Abstract
This article investigates an asymmetrical parallel mechanism with one universal–prismatic–spherical limb and two universal–spherical limbs and focuses on its mobility, configuration and dexterity analysis. The mobility analysis via screw theory reveals the mechanism of mobility four and leads to kinematic analysis. Mechanism configuration is then revealed with its model and actuation scheme. This leads to the singularity analysis and in particular to a new expression of direct kinematic near-singularity in an extended four-dimensional representation. Numerical analysis of local dexterity, which is illustrated with the change of platform position parameters, presents the range of better dexterous space.
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Schedule a callMore From: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
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