Geometry and kinematic analysis of a redundantly actuated parallel mechanism that eliminates singularities and improves dexterity

Journal of Mechanical Design

Volumn 130, Issue 12, 2008, Pages 1245011-1245015

  Saglia, Jody A ^a,b   Dai, Jian S ^a,b   Caldwell, Darwin G ^b  

^a KING'S COLLEGE LONDON   (United Kingdom)

^b ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

DESIGN; MECHANISMS; NUMBER THEORY;

CONDITION NUMBERS; GEOMETRY ANALYSIS; KINEMATIC ANALYSIS; LOW MOBILITY; MECHANISM-BASED; NON-REDUNDANT; PARALLEL MECHANISMS; RANK CONDITION; RANK DEFICIENCY; REDUNDANTLY ACTUATED;

JACOBIAN MATRICES;

EID: 69249111558     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2988472     Document Type: Article

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