Abstract
In this chapter we consider six-degree-of-freedom systems consisting of a platform supported by multiple serial chains, called parallel, or platform, manipulators.Walking machines, mechanical fingers manipulating an object, and vehicle simulator platforms are all examples of platform manipulators. The Jacobian of these systems defines the contribution of each actuator to the resultant force and torque applied to the platform.
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© 2011 Springer New York
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McCarthy, J.M., Soh, G.S. (2011). Platform Manipulators. In: Geometric Design of Linkages. Interdisciplinary Applied Mathematics, vol 11. Springer, New York, NY. https://doi.org/10.1007/978-1-4419-7892-9_16
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DOI: https://doi.org/10.1007/978-1-4419-7892-9_16
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Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4419-7891-2
Online ISBN: 978-1-4419-7892-9
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