Abstract
This paper presents a novel 4 dofs (3T-1R) parallel actuatedly redundant mechanism and its workspace analysis, based on a performance index involving velocity and force capabilities. The robot is capable of performing a half-turn about the z axis. Moreover, having all of its prismatic actuators along one direction; the x motion is independent- only limited by the stroke of the prismatic actuators. The mechanism is characterized by elevated dynamical capabilities having its actuators at base.
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Shayya, S., Krut, S., Company, O., Baradat, C., Pierrot, F. (2014). A Novel 4 DoFs (3T-1R) Parallel Manipulator with Actuation Redundancy – Workspace Analysis. In: Petuya, V., Pinto, C., Lovasz, EC. (eds) New Advances in Mechanisms, Transmissions and Applications. Mechanisms and Machine Science, vol 17. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7485-8_39
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DOI: https://doi.org/10.1007/978-94-007-7485-8_39
Publisher Name: Springer, Dordrecht
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