Kinematics of the translational 3-URC mechanism
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IEEE
(0) (0 Votes)Views: (2004) Date: (Publication Date: 2001) Pages: () -
Author: Di Gegorio R. Dept. of Eng. Ferrara Univ.;
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Abstract: Abstract A new 3-DOF spatial parallel mechanism, named translational 3-URC, is presented. The translational 3-URC makes the platform translate with respect to the base. The new mechanism belongs to a set of mechanisms with topologically equal architectures, called 3-URC, which contains another mechanism behaving as a spherical parallel wrist. The translational 3-URC position and mobility analyses are addressed and solved in closed form and the singularity conditions are written in explicit form and interpreted
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