KINEMATIC MODELLING OF A NEW 4 D.O.F PARALLEL ROBOT WITH TWO GUIDING KINEMATIC CHAINS OF THE END-EFFECTOR

Maria Ionica GLOGOVEANU, Nicolae PLITEA

Abstract


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.

References


Plitea, N., Pisla, D., Vidrean, A., Kinematics and design for two variants of a reconfigurable parallel robot, Proceedings of the IEEE/ASME International Conference on Reconfigurable Mechanisms and Robots ReMAR 2009, London United Kingdom, 22-24, june, 2009.

Gosselin, C., On the Quadratic Nature of the Singularity Curves of Planar Three-Degree-of-Freedom Parallel Manipulators, Mech. Mach. Theory, No. 4, Vol. 30, pp. 533-511, 1995.

N. Plitea D. Pisla C. Vaida Structural Synthesis and Kinematics of Parallel Structures with 3 and 4 DOF Using New Planar Parallel Modules, 13th World Congress in Mechanism and Machine Science, Guanajuato, México, 19-25 June,

Glogoveanu, M., Vaida, C., Sabou, C., Development of a new parallel robot with four degrees of freedom and two guiding kinematic chains of the end-effector, 1st International Conference on Quality and Innovation in Engineering and Management 17th – 19th of March, Cluj-Napoca, Romania, 2011.

Plitea, N., Pisla, D., Vaida, C. et all, Family of robots with parallel structure with four degrees of mobility, Patent No: A10022/30.09.2010.


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