T1R2-type spatial parallel manipulators
T1R1-type spatial parallel manipulators (SPMs) are used in many applications that require a unidirectional translation and the orientation of a body in space with two (2R) independent rotations of the mobile platform about a fixed point. Such parallel mechanisms are useful in automated assembling, contour machining, material handling, micromanipulation, deployable tools, telescopes, antennas, guns or solar panels.
KeywordsParallel Mechanism Revolute Joint Parallel Robot Spherical Joint Parallel Solution
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