An Explanation of Never-Special Assembly Changing Motions for 3-3 Parallel Manipulators

Abstract

When the leg rods of a fully in-parallel manipulator are fixed in their lengths, it is usual that the device can be assembled in several distinct ways. Sometimes it happens that motion between such assemblies can take place such that the linkage is never at a special configuration; that is, a configuration where the moving-platform body acquires… (More)
DOI: 10.1177/02783649922066394

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