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Theory for Topology Synthesis of Parallel Manipulators and Its Application to Three-Dimension-Translation Parallel Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A systematic theory for topology synthesis of parallel manipulators considering basic requirements such as kinematics, dynamics, control, and actuation is built. The kernel part of the theory is ...
Synthesis and Analysis of a Group of 3-Degree-of-Freedom Partially Decoupled Parallel Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The kinematics decoupling for parallel manipulators is studied in this paper. Based on the topological structure characteristics of parallel mechanisms, the internal relationship between kinematics ...
Position and Orientation Characteristic Equation for Topological Design of Robot Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the explicit mapping relations between topological structure and position and orientation characteristic (POC) of mechanism motion output. It deals with (1) the symbolic ...