Jacobian Analysis of Limited-DOF Parallel Manipulators
โ Scribed by Joshi, Sameer A. (author);Tsai, Lung Wen (author)
- Book ID
- 121202157
- Publisher
- The American Society of Mechanical Engineers
- Year
- 2002
- Tongue
- English
- Weight
- 374 KB
- Volume
- 124
- Category
- Article
- ISSN
- 1050-0472
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๐ SIMILAR VOLUMES
A unified and simple approach is proposed for solving inverse/forward velocity and acceleration of the limited-dof PKMs (parallel kinematic machines) with linear active legs. First, a general PKM with n active legs is constructed and some formulae for solving inverse displacement are derived. Second
Fully-symmetrical 5-DoF 3R2T parallel manipulator may be adopted in motion simulation for a spinal column. However, kinematics of these manipulators has not been studied very well because of their short history. Furthermore, the study of kinematics leads inevitably to the problem of singular configu