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In this paper, the forward position analysis (FPA) of a class of parallel manipulators which can be modeled as structures with three limbs when the active joint rates, namely the generalized coordinates, are locked, is carried out using mixed and analytic procedures. The first option is a novel procedure which combines a numerical method and the closed-form solution of the geometry of a tetrahedron,...
In this work, two essential steps, the kinematics and the singularity analysis, dealing with the design process of a parallel manipulator are investigated by means of the theory of screws. The proposed mechanism for the analysis is a parallel manipulator with three degrees of freedom. A simple and compact expression is derived here for the computation of the reduced acceleration state of the moving...
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