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TECHNICAL PAPERS

Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator

[+] Author and Article Information
J. A. Carretero, R. P. Podhorodeski, M. A. Nahon

Department of Mechanical Engineering, University of Victoria, Victoria, BC, Canada V8W 3P6

C. M. Gosselin

Département de Génie Mécanique, Université Laval, Québec, QC, Canada G1K 7P4e-mail: gosselin@gmc.ULaval.CA

J. Mech. Des 122(1), 17-24 (Dec 01, 1999) (8 pages) doi:10.1115/1.533542 History: Received September 01, 1998; Revised December 01, 1999
Copyright © 2000 by ASME
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References

Figures

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Vector representation of one leg
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Parasitic motion (a) along X axis, (b) along Y axis, and (c) around Z axis, at z=1/(√2),α=−β=120 deg, li=rp=1 (macro example)
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Total translational parasitic motion (δ ) values for z=1/(√2),α=−β=120 deg, li=rp=1
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T configuration: α=90 deg and β=−90 deg
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Average of the x parasitic motion (xave) versus α and β (macro example)
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Average of the total translational parasitic motion (δave) versus α and β (macro example)
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Maximum of the total translational parasitic motion (δmm) versus α and β (macro example)

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