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RISPerforming Nonsingular Transitions Between Assembly Modes in Analytic Parallel Manipulators by Enclosing Quadruple Solutions
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper analyzes the multiplicity of the solutions to forward kinematics of two classes of analytic robots: 2RPRPR robots with a passive leg and 3RPR robots with nonsimilar flat platform and base. Since their characteristic ...