A novel parallel 2-DOF spherical mechanism with one-to-one input-output mapping
ROCOM'06 Proceedings of the 6th WSEAS international conference on Robotics, control and manufacturing technology
A Geometric Theory for Analysis and Synthesis of Sub-6 DoF Parallel Manipulators
IEEE Transactions on Robotics
Static analysis of spatial parallel manipulators by means of the principle of virtual work
Robotics and Computer-Integrated Manufacturing
Hi-index | 0.00 |
It is presented an integral approach for the kinematic design of spatial, hybrid closed chains which include planar parallelograms into their kinematic structure. It is based on a systematic application of recursive formulae intended for describing the evolution of screws through time. Due to the particular nature of the proposed approach, it can be closely related with Lie algebras and allows to overcome the lacking of group structure offered by a parallelogram when it is going to be considered as a component of a hybrid closed chain. Several application examples are presented in order to show the potential of the proposed approach.