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3-dof parallel mechanism is a variant of the typical Stewart platform, which used three drivers and threes struts instead the six drives of the Stewart platform. In this paper, the length constraint equations of three struts is established and the analytical solution of the inverse kinematics is derived, and the forward kinematics solution of the rotational parallel mechanism is presented based the...
The study on static adjusting cannon of self-propelled gun based on dynamic Test Simulator-three freedom parallel manipulator is done in this paper. Above all, according to the characteristic of system, the forward kinematics and inverse kinematics are studied. Then based on last step, the transformation between reference frame and body reference frame is realized by quaternion. Finally, the static...
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