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TECHNICAL PAPERS

Kinematic Analysis and Design of Kinematically Redundant Parallel Mechanisms

[+] Author and Article Information
Jing Wang, Clément M. Gosselin

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

J. Mech. Des 126(1), 109-118 (Mar 11, 2004) (10 pages) doi:10.1115/1.1641189 History: Received June 01, 2002; Revised June 01, 2003; Online March 11, 2004
Copyright © 2004 by ASME
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References

Figures

Grahic Jump Location
Kinematic sketch of spherical 4-DOF kinematically redundant parallel mechanism
Grahic Jump Location
Spatial 7-DOF kinematically redundant parallel mechanism
Grahic Jump Location
Prototype of Spherical 4-DOF kinematically redundant parallel mechanism
Grahic Jump Location
Singularity locus for a=7,b=2,c=1,d=10,γ=30°
Grahic Jump Location
Planar 4-DOF kinematically redundant parallel mechanism

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