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• W2102078008 abstract "SUMMARY This paper proposes a novel parallel manipulator with 1 translational and 3 rotational degrees of freedom, which may be designed as the docking equipment for large-scale component assemblage in the aircraft industry. First, the mobility and kinematic analysis of the novel manipulator is performed using the screw theory and the closed-loop vector method. To evaluate the kinematic performance of the manipulator, its workspace is calculated, and the dimensional homogeneous Jacobian matrix of this manipulator is deduced. Mainly based on a nonlinear programming approach, the kinematic dimensional synthesis is performed to optimise the dimensional parameters of this novel parallel manipulator in a prescribed workspace. The results of this paper may lay a solid foundation for the prototype design and manufacture of the novel parallel manipulator." @default.
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• W2102078008 date "2014-08-13" @default.
• W2102078008 modified "2023-09-23" @default.
• W2102078008 title "Mobility analysis and kinematic synthesis of a novel 4-DoF parallel manipulator" @default.
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• W2102078008 doi "https://doi.org/10.1017/s0263574714002021" @default.
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