Journal
MECHANISM AND MACHINE THEORY
Volume 37, Issue 11, Pages 1395-1411Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/S0094-114X(02)00044-7
Keywords
Stewart platform; parallel robots; mechanisms
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In this paper, several types of composite pairs and new kinds of sub-chains (limbs or legs) with specific degrees of freedom are proposed. Based on the special Plucker coordinates for describing the displacement of the output link of a limb, the principle for design of structures of parallel robotic mechanisms is presented. And several new types of 2-, 3-, 4- and 5-DOF parallel robotic mechanisms are obtained. (C) 2002 Elsevier Science Ltd. All rights reserved.
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