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TECHNICAL PAPERS

The Kinematics of a Class of 3-DOF, 4-Legged Parallel Manipulators

[+] Author and Article Information
Sameer A. Joshi

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

Lung-Wen Tsai

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

J. Mech. Des 125(1), 52-60 (Mar 21, 2003) (9 pages) doi:10.1115/1.1540992 History: Received April 01, 2001; Revised May 01, 2002; Online March 21, 2003
Copyright © 2003 by ASME
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Figures

Grahic Jump Location
A cooperating hybrid kinematic machine
Grahic Jump Location
A spatial 3-DOF parallel manipulator with 4 legs
Grahic Jump Location
Position mechanism of the Tricept manipulator
Grahic Jump Location
D-H coordinate frames for the passive leg of the Tricept manipulator
Grahic Jump Location
Configurations of the Tricept manipulator corresponding to solution 1 and solution 2

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