Abstract

AbstractThe paper presents two parallel orientation mechanisms, each with two degrees of freedom (DOF). The kinematics, the workspace and the singularities of these mechanisms are presented. The static generalized forces in the legs, the torques taken by the main universal joints and the performance indices concerning the control and the stiffness of the mechanisms (global conditioning index and global stiffness index) are also assessed.KeywordsParallel ManipulatorParallel MechanismStiffness IndexSpherical JointUniversal JointThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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