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Structural Synthesis of the Families of Parallel Manipulators with 3 Degrees of Freedom

  • J. I. Ibarreche
  • Oscar Altuzarra
  • V. Petuya
  • A. Hernández
  • C. Pinto
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)

Abstract

The object of this article is to obtain in a systematic form all the families of parallel manipulators with 3 degrees of freedom considering solely fully parallel manipulators whose legs are structurally identical. The motion pattern of the end-effector that should be taken into account are: 3T, 2T1R, 1T2R and 3R, where T and R refer to the character of translational and rotational degrees of freedom.The methodology that follows utilizes the concepts of the theory of groups of displacements applied to the structural synthesis of parallel manipulators.

Keywords

Motion Pattern Parallel Manipulator Kinematic Chain Basque Country Kinematic Pair 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Bibliography

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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • J. I. Ibarreche
    • 1
  • Oscar Altuzarra
    • 1
  • V. Petuya
    • 1
  • A. Hernández
    • 1
  • C. Pinto
    • 2
  1. 1.Aernnova EngineeringVitoriaSpain
  2. 2.University of the Basque Country UPV/EHUBilbaoSpain

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