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Generalized Jacobian analysis of lower mobility manipulators

✍ Scribed by T. Huang; H.T. Liu; D.G. Chetwynd


Book ID
104049281
Publisher
Elsevier Science
Year
2011
Tongue
English
Weight
775 KB
Volume
46
Category
Article
ISSN
0094-114X

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Lower mobility parallel manipulators are designed to perform tasks that require less than six degrees of freedom. The operational mode is given by the type of screw system spanned by the end-effector's twist and it is configuration dependent. A change in the dimension of such screw system occurs at