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《Machine Design & Research》 2017-03
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Research of A 2-DOF Parallel Manipulator With Circle-shape Workspace

MENG Qingmei;DENG Jiaming;LIU Yuchen;WU Jiajing;SHEN Huiping;Chang Zhou University,School of Mechanical Engineering;  
A 2-DOF parallel manipulator with circle-shape workspace is designed,its forward and inverse kinematic solutions are deduced. The workspace and singularity are also analyzed,then Matlab software is used to obtain the locus of the end-effector in a plane. The models of accuracy is constructed,and the disciplines between the deviation of length of link,as well as the gap of joint and the deviation of the end-effector is presented. The work of the paper provides the theoretical grounds for design,manufacture and application.
【Fund】: 江苏省重点研发计划(产业前瞻与共性关键技术)资助项目(BE2015043)
【CateGory Index】: TH112
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