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This paper studies the comparative stiffness analysis of two over-constrained 2-RPU&SPR parallel mechanisms, these two 2-RPU&SPR parallel mechanisms are different in the joint distribution. Firstly, the kinematics of the two mechanisms are analyzed, the inverse and the forward positon problems of the two manipulators are obtained. Then, the dexterity analyses of the two mechanisms are carried...
In this paper, the inverse kinematics and dynamics of the 3-RRRT parallel manipulator with three translational degrees of freedom are investigated. First, the equations of kinematics have been formulated by using close-vector approach. Then, the angular velocities and accelerations of the manipulator are developed. Furthermore, the inverse dynamics for the manipulator is performed by using Lagrange...
Through the application of the constraint accession method for configuration design to the new parallel robot manipulator (PRM) of the partly degrees of freedom (DOF), and three new types of 3-DOF PRM are designed in the paper. According to the kinematics theory, the constrains, the degrees of freedom, position and velocity are analyzed. Using space coordinate transformation theory of Jacobian matrix...
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