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�������պ����ѧѧ�� 2005, Vol. 31 Issue (03) :346-350    DOI:
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������, ��Ծ��, ��ʤ*
������ͨ��ѧ ��е����ӿ��ƹ���ѧԺ, ���� 100044
Structural synthesis method for 4-degrees-of-freedom symmetrical parallel manipulators
Fang Hairong, Fang Yuefa, Guo Sheng*
School of Mechanical and Electronic Control Engineering, Beijing Jiaotong University, Beijing 100044, China

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Abstract�� Based on screw theory, the relationship between motion screw system of limbs and constraint screw system of moving platform were analyzed. All possible 5-order motion screw systems of limbs’ structures were enumerated, and then a systematic method was presented for structural synthesis of 4-DOF (4-degrees-of-freedom) parallel manipulators with symmetrical structure. According to their motionproperty, using this method, a serial of manipulators with 3-translation and 1-rotation mobility that had different structures were gotten. Results show that method has simple expression form for structural synthesis of lower mobility parallel manipulators relying on the relationship between motion and constraints that both have the screw models for easily analyzing. Results also show that the method can be easily applied for structural synthesis, and can be efficiently and fleetly used for structural synthesis of symmetrical mechanisms based on the given motion property of moving platform. It establishes the foundation for optimizing design for lower mobility parallel manipulators.
Keywords�� parallel   manipulator   degrees-of-freedom   structural synthesis   screw theory     
Received 2003-09-19;
Fund:

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About author: ������(1968-),Ů,������Դ��,��ʿ��, fhr@jdxy.njtu.edu.cn.
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������, ��Ծ��, ��ʤ.�����ɶȶԳƲ��������˽ṹ�ۺϷ���[J]  �������պ����ѧѧ��, 2005,V31(03): 346-350
Fang Hairong, Fang Yuefa, Guo Sheng.Structural synthesis method for 4-degrees-of-freedom symmetrical parallel manipulators[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2005,V31(03): 346-350
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