Study of design, kinematics and virtual control of 4 degrees of freedom parallel robot

摘要

The need to use parallel robots in varies domainslike manipulation operations, testing, tracking, guiding,machining has led to many researches in this domain. Atfirst the researches were focused on the six DOFs Gough-Stewart-type parallel robots, but in the last decade studieshave been done in the field of less than six degrees of free-dom type because of the suitability to handle tasks thatneed lower mobility robots.