The workspace of the parallel manipulators is relatively smaller than the serial manipulators, which results in lower translational or rotational capability and larger equipment fixing space. In order to improve this performance, a new type of parallel manipulators with special topology structures and special limbs is proposed. We name it similar-SCARA. The cylinder coordinate is used to describe the position and orientation of the mobile platform, and the kinematics equations of the similar-SCARA parallel manipulator is constructed. Then the dynamics modeling is developed with Lagrangian formulation. By aid of dynamics equations, the simulation curves denote the driving torque with time for the driving joint.
['Jianjun Zhang', 'Xiaohui Wang', 'Ning Jiang', 'Weimin Li']
Kinematics and Dynamics for a 3-DOF Parallel Manipulator with Limbs of Embedding Structures