Abstract
Decoupled parallel manipulator with three parallel kinematic chains is considered. Each kinematic chain contains two universal joints with additional constraints. The synthesis of this manipulator is carried out by means of screw groups. This approach allows avoiding completed equations by synthesis and singularity analysis of mechanisms.
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Tyves, L., Glazunov, V., Danilin, P., Thanh, N.M. (2010). Decoupled Parallel Manipulator with Universal Joints and Additional Constraints. In: Parenti Castelli, V., Schiehlen, W. (eds) ROMANSY 18 Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 524. Springer, Vienna. https://doi.org/10.1007/978-3-7091-0277-0_7
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DOI: https://doi.org/10.1007/978-3-7091-0277-0_7
Publisher Name: Springer, Vienna
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