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TECHNICAL PAPERS

Type Synthesis of 3-DOF Spherical Parallel Manipulators Based on Screw Theory

[+] Author and Article Information
Xianwen Kong, Clément M. Gosselin

Département de Génie Mécanique, Université Laval, Québec, Québec, G1K 7P4, Canada

J. Mech. Des 126(1), 101-108 (Mar 11, 2004) (8 pages) doi:10.1115/1.1637655 History: Received June 01, 2002; Revised June 01, 2003; Online March 11, 2004
Copyright © 2004 by ASME
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References

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Agrawal, S. K., 1991, “Study of an In-Parallel Mechanism Using Reciprocal Screws,” Proceedings of the Eighth World Congress on the Theory of Machines and Mechanisms,” Prague, 2 , pp. 405–408.
Gosselin, C. M., and Hamel, J. F., 1994, “The Agile Eye: A High Performance Three-Degree-of-Freedom Camera-Orienting Device,” Proceedings of IEEE International Conference on Robotics and Automation, San Diego, CA, IEEE, Piscataway, NJ, pp. 781–787.
Takeda,  Y., Funabashi,  H., and Sakaki,  Y., 1996, “Development of a Spherical In-Parallel Actuated Mechanism with Three Degrees of Freedom with Large Space and High Motion Transmissibility (Evaluation of Motion Transmissibility and Analysis of Working Space),” JSME International Journal, Series C, 39(3), pp. 541-548.

Figures

Grahic Jump Location
Wrench system of an SPKC
Grahic Jump Location
New 3-DOF single-loop kinematic chains involving an S joint
Grahic Jump Location
(RRR)EŘŘ-ŘŘRŘ SPKC
Grahic Jump Location
Actuation wrenches of some legs for SPKCs
Grahic Jump Location
Selection of inputs for the RRRŘŘ-ŘŘRŘ SPKC

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