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This work reports on some kinematic and dynamic properties of a four-degrees-of-freedom parallel manipulator generating three-rotation-one-translation (3R1T) motion. The input-output equations of velocity and acceleration of the robot manipulator are systematically established by resorting to reciprocalscrew
theory. Meanwhile, the generalized force...
Contexts in source publication
Context 1
... this section the architecture of the parallel manipulator at hand is outlined. With reference to Fig. 1, the parallel manipu- lator under study comprises a rectangular moving platform (p) of sides b and d and a square fixed platform (0) of side √ 2a connected each other by means of four active identical UPS-type limbs and one passive PS-type central kinematic chain labeled as the fifth limb of the manipulator. Meanwhile, the underlined ...
Context 2
... platform is included in expres- sion (1) with the purpose to satisfy an algebraic requirement: the six-dimensional nature of the velocity state 0 V p C . With this as- sumption in mind it follows that 0 ω 5 1 = 1 ω 5 2 = 0. In what fol- lows, the infinitesimal screws representing the kinematic pairs of the surrounding limb is explained. Referring Fig. 1, the screw as- sociated to the revolute joint connecting the ith limb to the fixed platform is denoted as 0 $ 1 i where the primal part of it is normal to the plane of the fixed platform while 1 ...
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