Abstract
In this paper, a new 3T1R partially motion-decoupled parallel manipulator (PM) with low coupling degree of κ = 1 and one redundant actuation chain is proposed. The topological design of the PM is introduced. Then the direct position analysis is developed by the molding method based on ordered single-opened-chain (SOC) units. The direct kinematics modeling method based on the SOC units is simple but powerful, which can be applicable to any PMs.
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Acknowledgments
This research is sponsored by the NSFC (No. 51475050 and No. 51375062), Jiangsu Key Development Project (No.BE2015043) and Jiangsu Scientific and Technology Transformation Fund Project (No.BA2015098).
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Shen, H. et al. (2019). Design and Direct Position Analysis of a New 3T1R Parallel Manipulator with Low Coupling Degree. In: Corves, B., Wenger, P., Hüsing, M. (eds) EuCoMeS 2018 . EuCoMeS 2018. Mechanisms and Machine Science, vol 59. Springer, Cham. https://doi.org/10.1007/978-3-319-98020-1_39
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DOI: https://doi.org/10.1007/978-3-319-98020-1_39
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