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Decoupled Parallel Manipulators Generating S-RS-US Structures: Instantaneous Kinematics and Singularity Analysis
並列摘要
In a previous paper, a family of decoupled parallel manipulators (DPMs) has been identified which generate S-RSUS structures when the actuators are locked. The DPMs of this family refer to sixty-three different architectures with only three limbs and the actuators on or near to the base. This actuator arrangement makes them able to provide the same dynamic performances as fully-parallel manipulators, which have six limbs and a cumbersome coupled kinematics. The position analysis of all these DPMs has been already solved in analytical form. Here, their instantaneous kinematics and singularity analysis are addressed.
被引用紀錄
陳敏祥（2009）。3-CRU平移型並聯式機械手臂之正向奇異位置分析〔碩士論文，淡江大學〕。華藝線上圖書館。https://doi.org/10.6846/TKU.2009.01048
吳承學（2008）。3-CRU平移型並聯式機械手臂之運動分析〔碩士論文，淡江大學〕。華藝線上圖書館。https://doi.org/10.6846/TKU.2008.01055
延伸閱讀
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