Qiaohong Chen

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Analyses of the inverse and forward positions of a 3-DOF parallel mechanism (PM) along with two rotational DOFs and one translational DOF are presented in this paper. The module of this 2-PRU-PRRU PM is created, and the Jacobian of the 2-PRU-PRRU PM is derived. Boundary, local, and combined singularities are identified based on the Jacobian. The workspace(More)
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