Schoenflies-motion generators (SMGs) are 4-degrees-of-freedom (dof) manipulators whose end effector can perform translations along three independent directions and rotations around one fixed direction (Schoenflies motions). The authors, in a previous paper, showed that a 2PRPU SMG has a simple position analysis and singularities that leave a wide free-from-singularity workspace. The present paper addresses the kinetostatics and the optimal design of this SMG.

Kinetostatics and optimal design of a 2PRPU shoenflies-motion generator

Di Gregorio, R.
Co-primo
2018

Abstract

Schoenflies-motion generators (SMGs) are 4-degrees-of-freedom (dof) manipulators whose end effector can perform translations along three independent directions and rotations around one fixed direction (Schoenflies motions). The authors, in a previous paper, showed that a 2PRPU SMG has a simple position analysis and singularities that leave a wide free-from-singularity workspace. The present paper addresses the kinetostatics and the optimal design of this SMG.
9783319675664
9783319675671
Kinetostatics; Parallel manipulators; Schoenflies motions; Useful workspace; Mechanical Engineering
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11392/2381260
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