Kinematic analysis and prototyping of a partially decoupled 4-DOF 3T1R parallel manipulator

Journal of Mechanical Design

Volumn 129, Issue 6, 2007, Pages 611-616

  Richard, Pierre Luc ^a   Gosselin, Clément M ^a   Kong, Xianwen ^a,b  

^a UNIVERSITÉ LAVAL   (Canada)

^b HERIOT WATT UNIVERSITY   (United Kingdom)

Author keywords

4 DOF manipulator; Kinematic decoupling; Parallel manipulator; SCARA motion; Sch nflies motion; Singularities

Indexed keywords

CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); EQUATIONS OF MOTION; KINEMATICS;

CONSTRAINT SINGULAR CONFIGURATIONS; KINEMATIC ANALYSIS; KINEMATIC DECOUPLING; KINEMATIC SINGULAR CONFIGURATIONS; PARALLEL MANIPULATOR; UNIVARIATE QUADRATIC EQUATION;

MANIPULATORS;

EID: 34250663066     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2717611     Document Type: Article

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