Design Optimization of a Cartesian Parallel Manipulator

[+] Author and Article Information
Han Sung Kim, Lung-Wen Tsai

Department of Mechanical Engineering, Bourns College of Engineering, University of California, Riverside, CA 92521

J. Mech. Des 125(1), 43-51 (Mar 21, 2003) (9 pages) doi:10.1115/1.1543977 History: Received January 01, 2002; Revised July 01, 2002; Online March 21, 2003
Copyright © 2003 by ASME
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Grahic Jump Location
Spatial 3-PRRR parallel manipulator
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Joint angles of the ith limb with respect to the ith limb coordinate system
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Linear and rotary actuation methods
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A serial manipulator made up of three compliant joints
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Manipulator with a misaligned X actuator
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Top view of a misaligned actuator
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Assembly drawing of a prototype parallel manipulator
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Prototype Cartesian parallel manipulator




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