KINEMATIC MODELLING OF A NEW 4 D.O.F PARALLEL ROBOT WITH TWO GUIDING KINEMATIC CHAINS OF THE END-EFFECTOR
This paper presents a new parallel robot with four degrees of freedom and two guiding kinematic chains of the end-effector. The structure has two linear and two revolute active joints. The inverse and direct kinematic models for the proposed robot are determined. Another aspect concerns the analytical determination of the workspace of the parallel robot.
Key words: Parallel robot, analytic model, kinematics, workspace.
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