Analytic Formulation of Reciprocal Screws and Its Application to Nonredundant Robot Manipulators

[+] Author and Article Information
Doik Kim

Wan Kyun Chung

Robotics & Bio-Mechatronics Lab., Department of Mechanical Engineering, POSTECH(Pohang University of Science & Technology) Nam-Gu Hyoja-Dong San 31, Pohang, KyongBuk, 790-784, South Korea

J. Mech. Des 125(1), 158-164 (Mar 21, 2003) (7 pages) doi:10.1115/1.1539508 History: Received June 01, 2001; Online March 21, 2003
Copyright © 2003 by ASME
Topics: Screws , Manipulators
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Grahic Jump Location
Two stages for the leg isolation of parallel manipulators
Grahic Jump Location
A leg of a parallel manipulator



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