Journal
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
Volume 20, Issue 1, Pages 117-121Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRA.2003.819597
Keywords
parallel manipulators; robot design; spherical motion; structural synthesis; theory of screws
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The theory of reciprocal screws is used for the enumeration of the feasible limb structures of a class of 3-degree-of-freedom (DOF) rotational parallel manipulators. Geometric conditions for the moving platform to possess finite spherical motion are described. A table of feasible limbs that can be used for the construction of 3-DOF rotational parallel manipulators is developed.
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