Instantaneous Kinematics and Free-from-Singularity Workspace of 3-XXRRU Parallel Manipulators

Instantaneous Kinematics and Free-from-Singularity Workspace of 3-XXRRU Parallel Manipulators

3-XXRRU parallel manipulators (PMs) constitute a family of six-degrees-of-freedom (DOF) PMs with three limbs of type XXRRU, where R and U stand for revolute pair and universal joint, respectively, and XX indicates any actuated two-DOF mechanism that moves the axis of the first R-pair. The members of...

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Bibliographic Details
Main Authors: Henrique Simas, Raffaele Di Gregorio, Roberto Simoni
Format: Article
Language:English
Published: MDPI AG 2023-10-01
Series:Robotics
Subjects:
parallel manipulators
instantaneous kinematics
singularity analysis
workspace
motion control
Online Access:https://www.mdpi.com/2218-6581/12/5/138

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