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Configuration Analysis and Design of a Multidimensional Tele-operator Based on a 3-P(4S) Parallel Mechanism

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Abstract

Based on configuration analysis, different types of 3-P(4S) parallel mechanisms are designed and introduced in this paper. Application issues of parallel mechanisms are discussed and a double 3-P(4S) mechanism-based tele-operator is illustrated. Inverse and forward kinematics of the single 3-P(4S) parallel mechanism are derived and solved via MATLAB software; based on it, the workspace of the 3-P(4S) parallel mechanism is investigated. The relationship between the distribution angle of kinematic chain and volume of the workspace is derived, and the shapes of the workspace of single and double 3-P(4S) parallel mechanisms are plotted. A prototype is developed and an interactive simulation system is established based on SolidWorks and LabVIEW software. Testing results indicate that the proposed tele-operator can well perform tele-operation tasks. This research work lays a good basis for performances evaluation and parameter optimization of 3-P(4S) mechanisms. Besides, it provides new ideas for the applications of parallel mechanisms.

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Acknowledgements

This work was supported in part by the National Natural Science Foundation of China (51575544, 51275353), Macao Science and Technology Development Fund (108/2012/A3, 110/2013/A3), and Research Committee of University of Macau (MYRG2015-00194-FST), Research Committee of The Hong Kong Polytechnic University (1-ZE97).

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Authors and Affiliations

  1. Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macau, China

    Xiao Xiao & Xiaoming Wang

  2. Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hung Hom, Hong Kong, China

    Yangmin Li

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  1. Xiao Xiao
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  2. Yangmin Li
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  3. Xiaoming Wang
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Correspondence to Yangmin Li.

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Xiao, X., Li, Y. & Wang, X. Configuration Analysis and Design of a Multidimensional Tele-operator Based on a 3-P(4S) Parallel Mechanism. J Intell Robot Syst 90, 339–348 (2018). https://doi.org/10.1007/s10846-017-0663-x

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  • DOI: https://doi.org/10.1007/s10846-017-0663-x

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