Kinematic analysis of 3 RSS+CP parallel mechanisms
Abstract
The paper presents an asymmetric three-degree-of-freedom parallel mechanism purposely conceived as a robotic device for tool positioning applications. The kinematic structure of the mechanism contains one central passive limb that constrains the end-effector motion to two translations and one rotation. This work deals with important issues related to the parallel mechanism, such as the position kinematics analysis and the singular configurations prediction. © Springer International Publishing Switzerland 2015.
URI
https://www.scopus.com/inward/record.uri?eid=2-s2.0-84944070090&doi=10.1007%2f978-3-319-17067-1_4&partnerID=40&md5=83c3fb7ac18c147dcf685f333e6ef4a3https://repositorio.maua.br/handle/MAUA/924
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