This paper investigates a novel 4-DOF 3-RRUR parallel manipulator, the number and the characteristics of its degrees of freedom are determined firstly, the rational input plan and the invert and forward kinematic solutions are carried out then. The corresponding numeral example of the forward kinematics is given. This type of parallel manipulators has a symmetrical structure, less accumulated error, and can be used to construct virtual-axis machine tools. The analysis in this paper will play an important role in promoting the application of such manipulators.
A Novel Parallel Mechanism With 3-RRUR Legs
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Li, Y, Zhang, Y, Wang, L, & Huang, Z. "A Novel Parallel Mechanism With 3-RRUR Legs." Proceedings of the ASME 2007 International Mechanical Engineering Congress and Exposition. Volume 7: Engineering Education and Professional Development. Seattle, Washington, USA. November 11–15, 2007. pp. 679-689. ASME. https://doi.org/10.1115/IMECE2007-43295
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