A new three-dof spatial parallel mechanism, named translational 3-URC, is presented. The translational 3-URC makes the platform translate with respect to the base. The new mechanism belongs to a set of mechanisms with topologically equal architectures, called 3-URC, which contains another mechanism behaving as a spherical parallel wrist. The translational 3-URC position and mobility analyses are addressed and solved in dosed form and the singularity conditions are written in explicit form and interpreted.
Kinematics of the translational 3-URC mechanism
DI GREGORIO, Raffaele
2001
Abstract
A new three-dof spatial parallel mechanism, named translational 3-URC, is presented. The translational 3-URC makes the platform translate with respect to the base. The new mechanism belongs to a set of mechanisms with topologically equal architectures, called 3-URC, which contains another mechanism behaving as a spherical parallel wrist. The translational 3-URC position and mobility analyses are addressed and solved in dosed form and the singularity conditions are written in explicit form and interpreted.File in questo prodotto:
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