Abstract
This paper presents a simple method based on the screw theory for determination of the possible motion characteristics for constrained 3 degree-of-freedom (DOF) parallel mechanisms when the linear displacements of the platform are restricted. The theory is significant for understanding novel constrained multi-DOF mechanisms, their inverse kinematics and robot path planning. The paper firstly discusses theoretically the relationship between the reciprocal screws and the motions of the mechanisms, then presents the analysis of the kinematic characteristics of several 3 DOF in-parallel actuated mechanisms.
Full Text 
Sign-in/Register to access full text options
Sign-in/Register to access full text options 
Published version (
Free)
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
