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Non-Singular Assembly Mode Changing Trajectories of a 6-DOF Parallel Robot
2012
Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
unpublished
This paper deals with the non-singular assembly mode changing of a six degrees of freedom parallel manipulator. The manipulator is composed of three identical limbs and one moving platform. Each limb is composed of three prismatic joints of directions orthogonal to each other and one spherical joint. The first two prismatic joints of each limb are actuated. The planes normal to the directions of the first two prismatic joints of each limb are orthogonal to each other. It appears that the
doi:10.1115/detc2012-70662
fatcat:w6jxklqs5je7fjvj5wmcrgcxni