A 3T2R parallel and partially decoupled kinematic architecture


This paper presents a parallel and partially decoupled mechanism characterized by three translational and two rotational degrees of freedom. A set of parallel kinematic chains actuates five degrees of freedom of the mobile platform and constrains one of its rotations. Its kinematics combines advantages typical of parallel architectures, as high dynamics… (More)
DOI: 10.1109/IROS.2013.6696389


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@article{Malosio2013A3P, title={A 3T2R parallel and partially decoupled kinematic architecture}, author={Matteo Malosio and Simone Pio Negri and Nicola Pedrocchi and Federico Vicentini and Lorenzo Molinari Tosatti}, journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year={2013}, pages={444-449} }