Kinematics of a new spherical parallel manipulator with three equal legs: The 3-URC wrist (Q2729199)
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scientific article; zbMATH DE number 1621743
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Kinematics of a new spherical parallel manipulator with three equal legs: The 3-URC wrist |
scientific article; zbMATH DE number 1621743 |
Statements
Kinematics of a new spherical parallel manipulator with three equal legs: The 3-URC wrist (English)
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27 June 2002
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spherical parallel manipulator
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kinematics
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base
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platform
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serial URC-chain
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mounting conditions
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position analysis
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singularity analysis
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The kinematics of a new spherical parallel manipulator is described. The manipulator consists of a base and a platform which are linked by a serial URC-chain (universal-revolute-cylindrical). The pure spherical behavior of this mechanism is obtained by imposing some mounting conditions. The author derives at first the mounting conditions, and then performs a position analysis and a singularity analysis.
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