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Conceptual Design and Kinematic Analysis of a New 6-DOF Parallel Mechanism

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Advances in Mechanism, Machine Science and Engineering in China (CCMMS 2022)

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Abstract

This paper deals with the conceptual design and kinematic analysis of a novel six degrees of freedom (DOF) parallel mechanism. The newly invented mechanism is a modified version of the F-200iB industrial robot, achieved by integrating the universal joints of a pair of limbs into a two-in-one part. The mobility of the proposed parallel mechanism is analyzed with the aid of the theory of mechanism topology. The inverse and forward kinematic models of the proposed parallel mechanism are derived in brief and validated by numerical simulation.

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Acknowledgements

Supported by National Natural Science Foundation of China (Grant No. 91948301 and 51721003) and Foundation of Tianjin Sino-German University of Applied Sciences (Grant No. zdkt2018-009), and EU H2020-RISE-ECSASDP (Grant No. 734272).

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Authors and Affiliations

  1. School of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China

    Hui Wang & Yulei Hou

  2. Basic Experimental and Training Center, Tianjin Sino-German University of Applied Sciences, Tianjin, 300350, China

    Hui Wang

  3. Key Laboratory of Modern Mechanisms and Equipment Design of the State Ministry of Education, Tianjin University, Tianjin, 300072, China

    Jiale Han, Haitao Liu & Ke Xu

Authors
  1. Hui Wang
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  2. Jiale Han
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  3. Yulei Hou
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  4. Haitao Liu
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  5. Ke Xu
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Corresponding author

Correspondence to Jiale Han .

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Editors and Affiliations

  1. Department of Mechanical Engineering, Tsinghua University, Beijing, China

    Xinjun Liu

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Wang, H., Han, J., Hou, Y., Liu, H., Xu, K. (2023). Conceptual Design and Kinematic Analysis of a New 6-DOF Parallel Mechanism. In: Liu, X. (eds) Advances in Mechanism, Machine Science and Engineering in China. CCMMS 2022. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-9398-5_24

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  • DOI: https://doi.org/10.1007/978-981-19-9398-5_24

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-9397-8

  • Online ISBN: 978-981-19-9398-5

  • eBook Packages: EngineeringEngineering (R0)

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