A Closed-Form Solution for the Direct Kinematics of a Special Class of Spherical Three-Degree-of-Freedom Parallel Manipulators

Author:

Gosselin C. M.,Gagné M.

Publisher

Springer Netherlands

Reference11 articles.

1. H.Asada and J.A. Cro Granito, ‘Kinematic and static characterization of wristjoints and their optimal design’, Proceedings of the IEEE InternationalConference on Robotics and Automation, pp. 244–250, 1985.

2. D.J.Cox and D. Tesar,The dynamic model of a three-degree-of-freedom parallelrobotic shoulder module5, Proceedings of the Fourth InternationalConferenceon Advanced Robotics, Columbus,June 13–15, 1989.

3. W.M.Craver, ‘Structural analysis and design of a three-degree-of-freedom roboticshoulder module’, Master Thesis, The University of Texas at Austin, 1989.

4. C. Gosselin and J. Angeles, ‘The optimum kinematic design of a sphericalthree-degree-of-freedom parallel manipulator’, ASME Journal of Mechanisms,Transmissions, and Automation in Design, Vol. 111, No. 2, pp. 202–207, 1989.

5. C.Gosselin and E. Lavoie, ‘On the kinematic design of sphericalthree-degree-of-freedom parallel manipulators’, The International Journal ofRobotics Research, Vol. 12, No. 4, pp. 394–402, 1993.

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