A New Three-Degree-of-Freedom Parallel Manipulator
نویسندگان
چکیده
In this papel; a novel spatial three degree-offreedom, that are two degrees of translational freedom and one degree of orientational freedom, parallel manipulator is proposed. The parallel manipulator consists of a base plate, a movable platform, and three non-identical connecting legs. The kinematics problems and velocity equation of the new parallel manipulator are given. Three kincis of singularities are presented. The parallel manipulator has wide application in the fields of industrial robots, motion simulators, and parallel kinematics machines.
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تاریخ انتشار 2002