Design Considerations of New Six Degrees-of-Freedom Parallel Robots
نویسندگان
چکیده
This paper describes the structure of three ~pes of parallel robots and compares their performances in the sense of size and static forces. The motivation for this investigation is to construct a robot that best ~ts a given medical application. The requirements are to cover a given work volume with a given orientation and to maintain the robot within the smallest cube possible. Among the structures examined, three are presented since two are modi~cations of known stmctures and the third is a new one.
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