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《Journal of Northern Jiaotong University》 2004-04
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Structure Synthesis of Three Rotational and One Translational-DOF Parallel Robots Mechanisms

FANG Hai-rong,FANG Yue-fa,HU Ming(School of Mechanical and Electronic Control Engineering,Beijing Jiaotong University, Beijing 100044,China)  
The theory of screws and reciprocal screws is used to analyze the constraint conditions for parallel robots of a given number of DOF, and a systematic method is proposed for structure synthesis of four-DOF parallel robots mechanisms. Base on this method, the possible limbs of three rotational-DOF and one translational-DOF parallel robots structures are constructed, then manifold newtype symme try and asymmetry mechanisms are enumerated. The method has universal significance to other Low-DOF parallel robots mechanisms.
【Fund】: 国家自然科学基金资助项目(50375001)
【CateGory Index】: TP242
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