Singularity and branch identification of a 2 degree-of-freedom (DOF) seven-bar spherical parallel manipulator
نویسندگان
چکیده
منابع مشابه
Modeling and Analysis of a 2-DOF Spherical Parallel Manipulator
The kinematics of a two rotational degrees-of-freedom (DOF) spherical parallel manipulator (SPM) is developed based on the coordinate transformation approach and the cosine rule of a trihedral angle. The angular displacement, angular velocity, and angular acceleration between the actuators and end-effector are thus determined. Moreover, the dynamic model of the 2-DOF SPM is established by using...
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ژورنال
عنوان ژورنال: Mechanical Sciences
سال: 2020
ISSN: 2191-916X
DOI: 10.5194/ms-11-381-2020