Kinematics analysis of a parallel robot with a passive segment

This paper presents a geometrical model of a constrained robot of three degrees of freedom (d.o.f) added to a PPP passivecentral segment. This structure provides a pure translation motion. We will also determine the relations between generalizedand articular velocities by using the inverse Jacobian...

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Udgivet i:Ingeniare. Revista Chilena de Ingeniería
Main Authors: Abdelhakim Cherfia, Abdelouahab Zaatri, Max Giordano
Format: Artigo
Sprog:Inglês
Udgivet: Universidad de Tarapacá 2007
Fag:
Ingeniería
workspace
singularity
passive segment
Jacobian matrix
Geometrical model
Online adgang:https://www.redalyc.org/articulo.oa?id=77215204
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