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TECHNICAL PAPERS

Unified Kinematic Analysis of General Planar Parallel Manipulators

[+] Author and Article Information
M. J. D. Hayes

Carleton University, Department of Mechanical & Aerospace Engineering, Ottawa, Ontario, K1S 5B6, Canada

P. J. Zsombor-Murray, C. Chen

McGill University, Dep’t. of Mech. Eng. & Center for Intelligent Machines, Montréal, Québec, H3A 2A7, Canada

J. Mech. Des 126(5), 866-874 (Oct 28, 2004) (9 pages) doi:10.1115/1.1767186 History: Received July 01, 2003; Revised January 01, 2004; Online October 28, 2004
Copyright © 2004 by ASME
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References

Figures

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The moving frame E and fixed frame Σ for any combination of legs from Table 1
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The seven possible leg topologies
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A platform with three RPR legs
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The three constraint hyperboloids projected into the hyperplane X4=1
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The four real FK solutions for the symmetric RP_R platform
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The image of the two real FK solutions for the asymmetric RPR platform
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The two real FK solutions for the asymmetric RPR platform
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The three constraint surfaces for the one PP-type leg platform
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Intersection of hyperbolic paraboloid and hyperboloid in the image plane of the PP-type leg
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The two real FK solutions for the one PP-type leg platform

Tables

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