A Manipulator of Parallel Structure for Translational Movement

Parallel structure mechanisms are used in technological, testing, measurement systems. There are lot of schemas exist with different degrees of freedom, but it is relevant to investigate new solutions corresponding specific technical tasks.

In the paper, a parallel structure mechanism for translational movements is considered, in which all the linear actuators are situated in the horizontal plane.

The matrix consisting of the Pluecker coordinates is formed, the solution of the kinematic problem is obtained, the working zone of the manipulator is built, its shape and size are determined.

References

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