Systematic Enumeration of Parallel Manipulators
نویسنده
چکیده
In this paper, a systematic methodology for enumeration of the kinematic structures of parallel manipulators is presented. Parallel manipulators are classified into planar, spherical, and spatial mechanisms. The classification is followed by an enumeration of the kinematic structures according to the degrees of freedom and connectivity listing. In particular, a class of parallel manipulators with pure translational motion capability is enumerated.
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