This paper proposes a systematic methodology for dimension synthesis, kinematics, and statics of a novel parallel manipulator with 3DOF. First, a workspace is varied and analyzed by varying the orientation of a revolute joint, and an optimum orientation of revolute joint is determined. Second, the inverse displacement is analyzed, and the formulas are derived for solving general inverse/forward velocities and accelerations. Third, the geometric constraints of constrained forces are determined and the formulas are derived for solving the active/constrained forces.
Issue Section:
Mechanisms and Robotics
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.Copyright © 2008
by American Society of Mechanical Engineers
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