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

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