| contributor author | Sameer A. Joshi | |
| contributor author | Lung-Wen Tsai | |
| date accessioned | 2017-05-09T00:08:17Z | |
| date available | 2017-05-09T00:08:17Z | |
| date copyright | June, 2002 | |
| date issued | 2002 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27720#254_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/127233 | |
| description abstract | This paper presents a methodology for the Jacobian analysis of limited degrees-of-freedom (DOF) parallel manipulators. A limited-DOF parallel manipulator is a spatial parallel manipulator which has less than six degrees-of-freedom. It is shown that a 6×6 Jacobian matrix, which provides information about both architecture and constraint singularities, can be derived by making use of the theory of reciprocal screws. The 3-UPU and 3-RPS parallel manipulators are used as examples to demonstrate the methodology. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Jacobian Analysis of Limited-DOF Parallel Manipulators | |
| type | Journal Paper | |
| journal volume | 124 | |
| journal issue | 2 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.1469549 | |
| journal fristpage | 254 | |
| journal lastpage | 258 | |
| identifier eissn | 1528-9001 | |
| keywords | Screws | |
| keywords | Jacobian matrices AND Manipulators | |
| tree | Journal of Mechanical Design:;2002:;volume( 124 ):;issue: 002 | |
| contenttype | Fulltext | |