Novel 6-DOF parallel manipulator with large workspace

@article{Glozman2009Novel6P,
  title={Novel 6-DOF parallel manipulator with large workspace},
  author={Daniel Glozman and Moshe Shoham},
  journal={Robotica},
  year={2009},
  volume={27},
  pages={891-895}
}
The workspace of a parallel manipulator is usually smaller than the size of the robot itself. It is important to derive new structures that enjoy the advantages of parallel manipulators and also have a large workspace. In this paper we present two configurations of similar structures RRRS and RRSR with rotating links. The RRRS structure has a relatively large workspace—larger than the size of the robot itself—which is not common in parallel robots. The inverse and forward kinematics of the… CONTINUE READING
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