Title of article
Design of decoupled parallel manipulators by means of the theory of screws
Author/Authors
Victor Glazunov، نويسنده ,
Issue Information
روزنامه با شماره پیاپی سال 2010
Pages
12
From page
239
To page
250
Abstract
This paper focuses on a study of the decoupling of parallel manipulators. Decoupled parallel manipulators with three parallel kinematic chains are considered. The translation kinematic pairs are designed as planar four-bar parallelograms. The synthesis of these mechanisms is carried out by means of screw groups. This approach allows avoiding completed equations by synthesis and singularity analysis of these mechanisms.
Keywords
Wrench , Singularities , Screw groups , Parallel manipulator , Decoupled mechanism , The theory of screws , twist
Journal title
Mechanism and Machine Theory
Serial Year
2010
Journal title
Mechanism and Machine Theory
Record number
1164235
Link To Document