The Qualitative Synthesis of Parallel Manipulators

[+] Author and Article Information
Jorge Angeles

Department of Mechanical Engineering & Centre for Intelligent Machines, McGill University, Montreale-mail: angeles@cim.mcgill.ca

J. Mech. Des 126(4), 617-624 (Aug 12, 2004) (8 pages) doi:10.1115/1.1667955 History: Received January 01, 2003; Revised July 01, 2003; Online August 12, 2004
Copyright © 2004 by ASME
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An instance of the P(e)⋅R(A) set of displacements not constituting a group
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The Π joint, a four-bar parallelogram coupling links 1 and 3
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The two kinds of R -Π joints: (a) new R -axis lying along the common normal to two parallelogram R axes and (b) new R -axis normal to the plane of the two parallelogram axes of the first kind in both cases
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A possible realization of a Π3 joint
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Kinematic chain of the Clavel Delta robot
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The ith leg of the MEL microfinger
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R ΠR Π kinematic bond generating Schönflies-motions
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A serial Schönflies-motion generator
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The coupling of two identical T3 generators
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A parallel array of two Schönflies-motion generators




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