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Type: Conference paper
Title: Classification and general kinematic models of 3-DOF planar parallel manipulators
Author: Liu, P.
Fang, Y.
Lu, T.
Citation: Proceedings of the Seventh International Conference on Computer-Aided Industrial Design and Conceptual Design, 17 - 19 November 2006, Hangzhou, China : pp. 1-6
Publisher: IEEE
Publisher Place: CDROM
Issue Date: 2006
Series/Report no.: International Conference on Computer-Aided Design & Conceptual Design
ISBN: 1424406846
Conference Name: International Conference on Computer-Aided Industrial Design and Conceptual Design (7th : 2006 : Hangzhou, China)
Abstract: This paper presents a new classification for 3-DOF planar parallel manipulators (PPM) with symmetrical configurations and workspace, and the resulted general forms of kinematic model. Under the proposed scheme, 3-DOF PPMs can be classified into two categories. Following this classification, the forward kinematics of category 1 and category 2 are derived and presented in this study, which are featured with a sixth order polynomial and a second order polynomial, respectively. The presented forward kinematic models are ready to be computerized and implemented unlike the classifications and models derived by other researchers requiring much more derivation before they could be implemented.
Description: © Copyright 2006 IEEE
RMID: 0020062447
DOI: 10.1109/CAIDCD.2006.329461
Appears in Collections:Mechanical Engineering conference papers

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