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A new closed-form kinematics of the generalized 3-DOF spherical parallel manipulator

Published online by Cambridge University Press:  01 September 1999

Zhen Huang  and
Y. Lawrence Yao
Zhen Huang
Affiliation:
Department of Mechanical Engineering, Columbia University, 220 S. W. Mudd Bldg. New York, NY 10027 (USA) yly1@columbia.edu
Y. Lawrence Yao
Affiliation:
Department of Mechanical Engineering, Columbia University, 220 S. W. Mudd Bldg. New York, NY 10027 (USA) yly1@columbia.edu
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Abstract

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This paper presents a new method to analyze the closed-form kinematics of a generalized three-degree-of-a-freedom spherical parallel manipulator. Using this analytical method, concise and uniform solutions are achieved. Two special forms of the three-degree-of-freedom spherical parallel manipulator, i.e. right-angle type and a decoupled type, are also studied and their unique and interesting properties are investigated, followed by a numerical example.

Keywords

Closed-form kinematicsSpherical parallel manipulator3-DOFTwo types
Type
Research Article
Information
Robotica , Volume 17 , Issue 5 , September 1999 , pp. 475 - 485
Copyright
© 1999 Cambridge University Press