Affiliation:
1. Institute of Discrete Mathematics and Geometry, Vienna University of Technology, Vienna 1040, Austria e-mail:
Abstract
We transfer the basic idea of bonds, introduced by Hegedüs, Schicho, and Schröcker for overconstrained closed chains with rotational joints, to the theory of self-motions of parallel manipulators of Stewart Gough (SG) type. Moreover, we present some basic facts and results on bonds and demonstrate the potential of this theory on the basis of several examples. As a by-product we give a geometric characterization of all SG platforms with a pure translational self-motion and of all spherical three-degrees of freedom (DOF) RPR manipulators with self-motions.
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