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Journal of Mechanical Science and Technology

, Volume 31, Issue 4, pp 1927–1935 | Cite as

Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy

Article

Abstract

In this paper, a novel planar parallel manipulator with kinematic redundancy is proposed. First, the Degrees of freedom (DOF) of the whole parallel manipulator and the Relative DOF (RDOF) between the moving platform and fixed base are studied. The results indicate that the proposed mechanism is kinematically redundant. Then, the kinematics, Jacobian matrices and workspace of this proposed parallel manipulator with kinematic redundancy are analyzed. Finally, the statics simulation of the proposed parallel manipulator is performed. The obtained stress and displacement distribution can be used to determine the easily destroyed place in the mechanism configurations.

Keywords

Planar parallel manipulator Kinematic redundancy DOF RDOF Displacement distribution 

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Copyright information

© The Korean Society of Mechanical Engineers and Springer-Verlag Berlin Heidelberg 2017

Authors and Affiliations

  1. 1.Robotics Institute, School of Mechanical, Electronic and Control EngineeringBeijing Jiaotong UniversityBeijingChina

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