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A serial-parallel dynamics simulator based on serial-parallel manipulator is proposed. According to the dynamics simulator motion requirement, the proposed serial-parallel dynamics simulator formed by 3-RRS (active revolute joint-revolute joint-spherical joint) and 3-SPR (Spherical joint-active prismatic joint-revolute joint) PMs adopts the outer and inner layout. By integrating the kinematics, constraint...
An in-pipe robot must be able to adapt to the various geometric changes of pipes and have large enough load carrying capacity in order to move freely in industry pipe and drag heavy load. A novel in-pipe 3SPR/3RPS type parallel manipulator is proposed and its kinematics is analyzed in this paper. First, an in-pipe parallel manipulator with multi-foot is designed, and its principle and characteristics...
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