| contributor author | C. M. Gosselin | |
| contributor author | J. Sefrioui | |
| contributor author | M. J. Richard | |
| date accessioned | 2017-05-08T23:45:06Z | |
| date available | 2017-05-08T23:45:06Z | |
| date copyright | June, 1994 | |
| date issued | 1994 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27617#594_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/114099 | |
| description abstract | In this paper, the direct kinematics of general spherical parallel three-degree-of-freedom manipulators is investigated. A polynomial of degree 8 is obtained to describe this problem and it is shown that this polynomial is minimal since 8 real solutions corresponding to actual configurations have been found for a given set of actuator coordinates and a given architecture. This result completes the study on the direct kinematics of spherical three-degree-of-freedom parallel manipulators undertaken by the authors in a previous paper. An example of an architecture and a set of actuator coordinates which lead to 8 real solutions is presented to illustrate the results. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | On the Direct Kinematics of Spherical Three-Degree-of-Freedom Parallel Manipulators of General Architecture | |
| type | Journal Paper | |
| journal volume | 116 | |
| journal issue | 2 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2919419 | |
| journal fristpage | 594 | |
| journal lastpage | 598 | |
| identifier eissn | 1528-9001 | |
| keywords | Kinematics AND Manipulators | |
| tree | Journal of Mechanical Design:;1994:;volume( 116 ):;issue: 002 | |
| contenttype | Fulltext | |
