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Open Access item Synthesis of spatial RPRP loops for a given screw system

Authors:Perez-Gracia, Alba
Keywords:Kinematic synthesis, Finite-screw systems
Issue Date:2010
Publisher:Springer
Citation:New Trends in Mechanism Science: 11-18 (2010)
Series/Report no.:Mechanisms and Machine Science 5
Abstract:The dimensional synthesis of spatial chains for a prescribed set of positions can be used for the design of parallel robots by joining the solutions of each serial chain at the end effector. In some cases, this may yield a system with negative mobility. The synthesis of some overconstrained but movable linkages can be done if the finite screw system associated to the motion of the linkage is known. For these cases, the screw system could be related to the finite tasks positions traditionally defined in the synthesis theory. This paper presents the simplest case, that of the spatial RPRP closed chain, for which one solution exists.
Description:Trabajo presentado a la 3rd European Conference on Mechanism Science (EUCOMES) celebrado en Cluj-Napoca (Rumania) del 14 al 18 de septiembre de 2010.
Publisher version (URL):http://dx.doi.org/10.1007/978-90-481-9689-0_2
URI:http://hdl.handle.net/10261/30159
ISBN:978-90-481-9688-3
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Appears in Collections:(IRII) Libros y partes de libros

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