Geometry and constraint analysis of the three-spherical kinematic chain based parallel mechanism

Journal of Mechanisms and Robotics

Volumn 2, Issue 3, 2010, Pages

  Zhang, Ketao ^a,b   Fang, Yuefa ^a   Fang, Hairong ^a   Dai, Jian S ^b  

^a BEIJING JIAOTONG UNIVERSITY   (China)

^b KING'S COLLEGE LONDON   (United Kingdom)

Author keywords

Constraint; Line geometry; Parallel mechanism; Screw system; Singularity; Spherical chain

Indexed keywords

CONSTRAINT; LINE GEOMETRY; PARALLEL MECHANISMS; SCREW SYSTEM; SINGULARITY; SPHERICAL CHAIN;

COMPUTATIONAL GEOMETRY; KINEMATICS; MECHANISMS; SCREWS;

SPHERES;

EID: 78649531665     PISSN: 19424302     EISSN: 19424310     Source Type: Journal    
DOI: 10.1115/1.4001783     Document Type: Article

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