Abstract
An original 4-PTT parallel manipulator mechanism with three-dimensional translations and one rotational motion about Z axis is presented according to the output motion theories of parallel mechanism. The structure and constraints of the mechanism are analyzed, and the mobility of mechanism is calculated. Its positional inverse model are set up by using the conversion of coordinates and projection in analytic geometry, and the method of the forward solution of the mechanism and corresponding numerical examples are given; and by programming with Matlab and LabVIEW, the workspace of standing pose is analyzed. The mechanism has advantages of simple symmetric structure, large stiffness and wide application in the fields of industrial robots, micromanipulators, virtual axis machine tools, damping platform, rehabilitation robot and etc. In this paper, a useful exploration of traditional Chinese massage based on the 4-PTT parallel mechanism is investigated, which provides a theoretical basis for the practical application.
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© 2008 Springer-Verlag Berlin Heidelberg
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Guo, Z., Duan, J., Wang, K., Zou, Z. (2008). Analysis of Mechanism and Application Research for 4-PTT Parallel Mechanism Manipulator. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_59
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DOI: https://doi.org/10.1007/978-3-540-88513-9_59
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88512-2
Online ISBN: 978-3-540-88513-9
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