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.
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Coelho, T.A.H., Malvezzi, F. (2015). Kinematic Analysis of 3 RSS+CP Parallel Mechanisms. In: Corves, B., Lovasz, EC., Hüsing, M. (eds) Mechanisms, Transmissions and Applications. Mechanisms and Machine Science, vol 31. Springer, Cham. https://doi.org/10.1007/978-3-319-17067-1_4
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DOI: https://doi.org/10.1007/978-3-319-17067-1_4
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