Abstract
This paper presents a new architecture of a three degree-of-freedom parallel manipulator that, if properly assembled, exhibits pure translational motion of the output link (platform) with respect to the frame (base). To prove the existence of a pure translational motion a mobility analysis of the manipulator has been carried out. Moreover, a singularity analysis has also been conducted that shows the occurrence of configurations of the manipulator where the pure translational feature is no longer controllable.
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© 1998 Springer Science+Business Media Dordrecht
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Di Gregorio, R., Parenti-Castelli, V. (1998). A Translational 3-dof Parallel Manipulator. In: Lenarčič, J., Husty, M.L. (eds) Advances in Robot Kinematics: Analysis and Control. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-9064-8_5
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DOI: https://doi.org/10.1007/978-94-015-9064-8_5
Publisher Name: Springer, Dordrecht
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