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TECHNICAL PAPERS

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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References

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Angeles, J., Morozov, A., and Navarro, O., 2000, “A Novel Manipulator Architecture for the Production of SCARA Motions,” Proc. IEEE Int. Conf. Robotics and Automation, San Francisco, pp. 2370–2375. CD-ROM 00CH37065C, April 24–28.

Figures

Grahic Jump Location
An instance of the P(e)⋅R(A) set of displacements not constituting a group
Grahic Jump Location
The Π joint, a four-bar parallelogram coupling links 1 and 3
Grahic Jump Location
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
Grahic Jump Location
A possible realization of a Π3 joint
Grahic Jump Location
Kinematic chain of the Clavel Delta robot
Grahic Jump Location
The ith leg of the MEL microfinger
Grahic Jump Location
R ΠR Π kinematic bond generating Schönflies-motions
Grahic Jump Location
A serial Schönflies-motion generator
Grahic Jump Location
The coupling of two identical T3 generators
Grahic Jump Location
A parallel array of two Schönflies-motion generators

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