Spatial Parallel Robotic Machines with Revolute Actuators
In this chapter, first, a six degrees of freedom fully parallel robotic machine with revolute actuators is presented and analyzed. Then, a serial of parallel manipulators with 3-dof, 4-dof, and 5-dof whose degree of freedom is dependent on an additional passive leg, this passive leg is connecting the center between the base and the moving platform. Together with the inverse kinematics and velocity equations for both rigid-link and flexible-link mechanisms, a general kinetostatic model is established for the analysis of the structural rigidity and accuracy of this family of mechanisms, case studies for 3-dof, 4-dof, and 5-dof mechanisms are given in detail to illustrate the results.
KeywordsJacobian Matrix Parallel Mechanism Kinematic Chain Jacobian Matrice Rigid Link
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