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In view of the successful application of planar parallelogram in the Delta robot and its variants, we are interested to investigate mechanisms consisting of spatial parallelograms. The spatial parallelogram, denoted by Pscra*, is a 2-SS (S stands for a spherical joint) parallel mechanism having identical length for opposite links. We show that a 3-PPscr a* mechanism is generically undergoes 3-dimensional...
A novel 3-DoF purely translational parallel mechanism, the Orthotripod, is proposed. It is a variant of the tripod based parallel machine and has a similar architecture to the Orthoglide. In order to reduce the number of passive joints and remove the effect of ease of abrasion of revolute joints, spherical joints are applied in the parallelogram. A mathematic mobility analysis shows the mechanism...
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