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TECHNICAL PAPERS

Kinematic Analysis of 3-DOF Position Mechanisms for Use in Hybrid Kinematic Machines

[+] Author and Article Information
Lung-Wen Tsai

Department of Mechanical Engineering, Bourns College of Engineering, University of California, Riverside, CA 92521e-mail: Iwtsai@engr.ucr.edu

Sameer Joshi

Department of Mechanical Engineering, Institute for Systems Research, University of Maryland, College Park, MD 20742e-mail: sameer@isr.umd.edu

J. Mech. Des 124(2), 245-253 (May 16, 2002) (9 pages) doi:10.1115/1.1468860 History: Received April 01, 2001; Online May 16, 2002
Copyright © 2002 by ASME
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References

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Figures

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A Cooperating hybrid kinematic machine
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Schematic diagram of a 3-RUU parallel manipulator
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Schematic diagram of a 3-UPU parallel manipulators
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Schematic diagram of a 3-PUU parallel manipulator with intersecting rails
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Schematic diagram of a 3-PUU parallel manipulator with parallel rails
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Description of joint angles of the 3-RUU parallel manipulator
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A typical limb of the 3-UPU parallel manipulator
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Geometry of the fixed base of the 3-PUU parallel manipulator with intersecting rails
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A typical limb of the 3-PUU parallel manipulator with intersecting rails
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Workspace of the optimized 3-RUU manipulator
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Workspace of the optimized 3-UPU manipulator
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Workspace of the optimized 3-PUU manipulator with intersecting rails
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Workspace of the optimized 3-PUU manipulator with parallel rails
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Maximum stiffness of the 3-RUU manipulator
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Maximum stiffness of the 3-UPU manipulator
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Maximum stiffness of the 3-PUU manipulator with intersecting rails
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Maximum stiffness of the 3-PUU manipulator with parallel rails
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Minimum stiffness of the 3-RUU manipulator
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Minimum stiffness of the 3-UPU manipulator
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Minimum stiffness of the 3-PUU manipulator with intersecting rails
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Minimum stiffness of the 3-PUU manipulator with parallel rails

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