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TECHNICAL PAPERS

Kinematic Analysis of a Novel Translational Platform

[+] Author and Article Information
Massimo Callegari, Matteo Tarantini

Department of Mechanics, Universitá Politecnica delle Marche 60131 Ancona, Italy

J. Mech. Des 125(2), 308-315 (Jun 11, 2003) (8 pages) doi:10.1115/1.1563637 History: Received October 01, 2001; Revised August 01, 2002; Online June 11, 2003
Copyright © 2003 by ASME
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References

Figures

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The 3-RPC translational parallel robot
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Sketch of a typical limb of the 3-RPC robot
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Side and top view of the workspace of 3-RPC mechanism
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Representation of mechanism’s workspace by means of a numerical method
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Locus of direct kinematics singular configurations
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Sketch of the 3-RPC mechanism in a direct kinematics singular configuration: (a) side view; (b) top view
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Solid model of the 3-RPC prototype robot

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