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Structure Synthesis of a Class of 4-DoF and 5-DoF Parallel Manipulators with Identical Limb Structures
  • Y. Fang, L. Tsai
  • Mathematics, Computer Science
  • Int. J. Robotics Res.
  • 1 September 2002
In this paper, a systematic approach is developed for the structural synthesis of a class of four-degrees-of-freedom (4-DoF) and 5-DoF overconstrained parallel manipulators with identical serialExpand
  • 284
  • 6
  • Open Access
Kinematic characteristics analysis of 3 DOF in-parallel actuated pyramid mechanism☆
This paper presents the analysis of the kinematic characteristics of 3 degrees-of-freedom (DOF) parallel actuated pyramid mechanisms using reciprocal screw theory. The parallel actuated sphericalExpand
  • 98
  • 3
Constraint analysis and bifurcated motion of the 3PUP parallel mechanism
Abstract This paper investigates the geometry properties and certain restrictions of stroke induced by the special assemblage of a 3PUP parallel mechanism which consists of a fixed base, a platformExpand
  • 27
  • 3
Structure synthesis of a class of 3-DOF rotational parallel manipulators
  • Y. Fang, L. Tsai
  • Computer Science, Mathematics
  • IEEE Transactions on Robotics and Automation
  • 19 February 2004
The theory of reciprocal screws is used for the enumeration of the feasible limb structures of a class of 3-degree-of-freedom (DOF) rotational parallel manipulators. Geometric conditions for theExpand
  • 115
  • 2
Kinematics of a three-degree-of-freedom in-parallel actuated manipulator mechanism☆
This paper presents the first and second order kinematic analysis of a three-degrees-of-freedom 3-RPS parallel robot mechanism. The position and orientation parameters of the moving platform of thisExpand
  • 68
  • 2
ANALYTICAL IDENTIFICATION OF THE PRINCIPAL SCREWS OF THE THIRD ORDER SCREW SYSTEM
Screw theory, as a theoretical tool, plays an important role in the kinematic analysis of mechanisms and robot manipulators. The principal screws are the basic and important elements of the screwExpand
  • 21
  • 2
Analysis of instantaneous motions of deficient-rank 3-RPS parallel manipulators
In this paper, the instantaneous motions of a deficient-rank 3-DOF 3-RPS parallel-actuated manipulator are studied. Firstly, the Jacobian matrix of the mechanism is established by using theExpand
  • 73
  • 1
Enumeration of a class of overconstrained mechanisms using the theory of reciprocal screws
Abstract In this paper, a new method for structure synthesis of a class of overconstrained mechanisms is presented. First, joint screw systems that are reciprocal to several prescribedExpand
  • 51
  • 1
Topology and Constraint Analysis of Phase Change in the Metamorphic Chain and Its Evolved Mechanism
This paper presents a metamorphic kinematic pair extracted from origami folds in the context of mechanisms, its evolved metamorphic chain, and the novel metamorphic parallel mechanism. This paperExpand
  • 93
  • 1