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Modelling of kinematics of the IRb-6 manipulator

✍ Scribed by T. Szkodny


Book ID
108022515
Publisher
Elsevier Science
Year
1995
Tongue
English
Weight
765 KB
Volume
29
Category
Article
ISSN
0898-1221

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Kinematics analysis of a novel parallel
✍ Yanbin Zhang; Hongzhao Liu; Xin Wu πŸ“‚ Article πŸ“… 2009 πŸ› Elsevier Science 🌐 English βš– 509 KB

A novel 3-DOF uncoupled spatial parallel manipulator is presented. Firstly, geometrical structure and mobility analysis of the manipulator are addressed. Then the forward and the inverse kinematic problems are analyzed, singularity analysis of the mechanism is performed based on the singular conditi