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TECHNICAL PAPERS

Singularity Loci of a Special Class of Spherical 3-DOF Parallel Mechanisms With Prismatic Actuators

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

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

J. Mech. Des 126(2), 319-326 (May 05, 2004) (8 pages) doi:10.1115/1.1649970 History: Received January 01, 2002; Revised June 01, 2003; Online May 05, 2004
Copyright © 2004 by ASME
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References

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Figures

Grahic Jump Location
A special class of 3-DOF spherical parallel manipulator with prismatic actuators
Grahic Jump Location
Singular configuration of case 1 with ϕ13=0 and ϕ2=π/2
Grahic Jump Location
Singular configuration of case 2 with ϕ13=0 and ϕ2=−π/2
Grahic Jump Location
Singular configuration of case 3 with ϕ1=π/6,ϕ3=π/3 and ϕ2=π/12
Grahic Jump Location
Singular configuration of special case 1 with ϕ1=20 deg, ϕ3=70 deg and ϕ2=90 deg
Grahic Jump Location
Singular configuration of case 4 with ϕ1=−35 deg, ϕ3=−55 deg and ϕ2=20 deg
Grahic Jump Location
Singular configuration of special case 2 with ϕ1=−30, deg ϕ3=−60 deg and ϕ2=90 deg
Grahic Jump Location
Singular configurations of special case 3

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