Singularity Analysis For 3-PPR Parallel Spherical Mechanism based on Screw Theory

A new type of 3-PPR spherical parallel mechanism is proposed.Due to the mobile pair special trajectory in each branch chain,the mobile pair can be equivalent conversion for revolute pair.Based on screw theory,each branched chain motion screw system is given.The mobility of this mechanism is analyzed...

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Autori principali:	Zhao Ruijie, Song Shengtao, Li Ruiqin, Li Dahai, Zhao Jianwen
Natura:	Artigo
Lingua:	Chinês
Pubblicazione:	Editorial Office of Journal of Mechanical Transmission 2017-01-01
Serie:	Jixie chuandong
Soggetti:	Parallel spherical mechanism Screw theory Jacobian matrix Singularity Positive position solution Working space
Accesso online:	http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.02.022
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