Kinematic design of a six-DOF parallel-kinematics Machine with decoupled-motion architecture

The design of a new six-degree-of-freedom (6-DOF) parallel-kinematics machine (PKM) has been proposed. Different from the conventional Stewart-Gough platform which has six extensible legs, the new PKM employs three identical RPRS legs to support the moving platform. Since all joint axes, excluding t...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 20; no. 5; pp. 876 - 887
Main Authors:	Guilin Yang, I-Ming Chen, Chen, W., Wei Lin
Format:	Journal Article
Language:	English
Published:	New York, NY IEEE 01.10.2004 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Applied sciences Architecture Assembly Computer science; control theory; systems Control theory. Systems Design engineering Drives Exact sciences and technology Horizontal Kinematics Kinetics Leg Legged locomotion Legs Linkage mechanisms, cams Machining Manipulators Manufacturing Mechanical engineering. Machine design Mechatronics Planes Platforms Prototypes Robotics Robots Translations Freedom degree Linkage mechanism Machining Parallel mechanism Rotation axis Robotics Workspace Manipulator
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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