Type Synthesis of 5-DOF Hybrid (Parallel-Serial) Manipulators Designed from Open Kinematic Chains

Type Synthesis of 5-DOF Hybrid (Parallel-Serial) Manipulators Designed from Open Kinematic Chains

The article proposes an approach for synthesizing hybrid (parallel-serial) manipulators with five degrees of freedom (5-DOF) using open kinematic chains. The method idea consists in taking an open kinematic chain, selecting a subchain within it, and replacing the subchain with a parallel mechanism....

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Bibliographic Details
Main Authors: Anton Antonov, Alexey Fomin, Victor Glazunov, Daniil Petelin, Gleb Filippov
Format: Article
Language:English
Published: MDPI AG 2023-07-01
Series:Robotics
Subjects:
type synthesis
5-DOF hybrid (parallel-serial) mechanism
3-DOF parallel mechanism
serial (open) kinematic chain
3T2R and 3R2T motion patterns
Online Access:https://www.mdpi.com/2218-6581/12/4/98

Internet

https://www.mdpi.com/2218-6581/12/4/98

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