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.
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Ibarreche, J.I., Altuzarra, O., Petuya, V., Hernández, A., Pinto, C. (2013). Structural Synthesis of the Families of Parallel Manipulators with 3 Degrees of Freedom. In: Padois, V., Bidaud, P., Khatib, O. (eds) Romansy 19 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 544. Springer, Vienna. https://doi.org/10.1007/978-3-7091-1379-0_5
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DOI: https://doi.org/10.1007/978-3-7091-1379-0_5
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-1378-3
Online ISBN: 978-3-7091-1379-0
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