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TECHNICAL PAPERS

Application of Workspace Generation Techniques to Determine the Unconstrained Motion of Parallel Manipulators

[+] Author and Article Information
Philip Voglewede, Imme Ebert-Uphoff

Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332-0405

J. Mech. Des 126(2), 283-290 (May 05, 2004) (8 pages) doi:10.1115/1.1649967 History: Received January 01, 2002; Revised July 01, 2003; Online May 05, 2004
Copyright © 2004 by ASME
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References

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Figures

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Example five bar mechanism (2 DOF)
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Schematic of 3R_RR manipulator
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Close up view of a passive revolute joint
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Possible motion of mounting point C1
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Unconstrained EE motion of the five-bar mechanism shown in the shaded region at C
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Unconstrained EE motion of 3R_RR manipulator for one particular EE orientation φ the intersection of three translated annuli
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Equivalent clearance mechanism for the 5 bar example
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Equivalent model for the three DOF manipulator (3R_RR)
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Unconstrained EE motion while approaching two different singular configurations
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Unconstrained EE motion of 3R_RR manipulator for a non-singular configuration
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Unconstrained EE motion of 3R_RR manipulator for a singular configuration
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Unconstrained EE motion of 3R_RR manipulator for a singular configuration

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