TRIFLEX: Design and Prototyping of a 3-DOF Variable-Configuration Parallel Manipulator with Self-Aligning
نویسندگان
چکیده
This paper presents the design and prototyping of a fully decoupled 3-DOF variable-configuration parallel manipulator with self-aligning called TRIFLEX. This parallel manipulator can change their form to carry out different tasks in different places, this change is managed by additional self-aligning degrees-of freedom. These degrees-of-freedom of self-aligning do not interfere in the motion of the moving platform, they are passive/null degrees-of-freedom that only permit changes in the form of base of the parallel manipulator. This paper also presents the mobility analysis of the 3-DOF TRIFLEX.
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