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In this contribution, a systematic methodology for solving the kinematic and dynamic analyses of a modular spatial hyper-redundant manipulator built with an optional number of serially connected three-legged in-parallel manipulators are presented. First, the kinematics and dynamics of the base module are carried out using the theory of screws and the principle of virtual work. Next, the expressions...
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,...
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