Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/73835
Title: Configuration analysis and design of a multidimensional tele-operator based on a 3-P(4S) parallel mechanism
Authors: Xiao, X
Li, Y 
Wang, X
Keywords: Configuration analysis
Interactive control
Parallel mechanism
Tele-operator
Issue Date: 2018
Publisher: Springer
Source: Journal of intelligent and robotic systems, 2018, v. 90, no. 9-12, p. 339-348 How to cite?
Journal: Journal of intelligent and robotic systems 
Abstract: Based on configuration analysis, different types of 3-P(4S) parallel mechanisms are designed and introduced in this paper. Application issues of parallel mechanisms are discussed and a double 3-P(4S) mechanism-based tele-operator is illustrated. Inverse and forward kinematics of the single 3-P(4S) parallel mechanism are derived and solved via MATLAB softwareMergeCell based on it, the workspace of the 3-P(4S) parallel mechanism is investigated. The relationship between the distribution angle of kinematic chain and volume of the workspace is derived, and the shapes of the workspace of single and double 3-P(4S) parallel mechanisms are plotted. A prototype is developed and an interactive simulation system is established based on SolidWorks and LabVIEW software. Testing results indicate that the proposed tele-operator can well perform tele-operation tasks. This research work lays a good basis for performances evaluation and parameter optimization of 3-P(4S) mechanisms. Besides, it provides new ideas for the applications of parallel mechanisms.
URI: http://hdl.handle.net/10397/73835
ISSN: 0921-0296
EISSN: 1573-0409
DOI: 10.1007/s10846-017-0663-x
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