Abstract
The kinetostatic design of a four-degree-of-freedom manipulator of the SCARA type, i.e., a Schönflies-motion generator, is reported here. The optimum design is obtained by means of kinetostatic isotropy, which thus leads to robustness against measurement and round-off errors. It is shown that a kinetostatically isotropic design is possible.
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© 2002 Springer Science+Business Media Dordrecht
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Al-Widyan, K., Angeles, J. (2002). The Kinetostatic Design of a Schönflies-Motion Generator. In: Lenarčič, J., Thomas, F. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0657-5_33
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DOI: https://doi.org/10.1007/978-94-017-0657-5_33
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6054-9
Online ISBN: 978-94-017-0657-5
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