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The synthesis of planar parallel manipulators with prismatic joints for an optimal, singularity-free workspace

โœ Scribed by Gallant, Marise ;Boudreau, Roger


Book ID
112187155
Publisher
John Wiley and Sons
Year
2002
Tongue
English
Weight
244 KB
Volume
19
Category
Article
ISSN
0741-2223

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Based on its simple structure, base-fixed actuators, high payload capacity, high accuracy, and high mechanical rigidity, the 3-RRR mechanism 1 is a practical planar parallel manipulator. However, the 3-RRR mechanism is known to have singular loci within its workspace affecting its use. A recent pape