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Partially flagged parallel manipulators: singularity charting and avoidance
(2009-08)
Article.
Accés obert
Article.
Accés obert
There are only three 6-SPS parallelmanipulatorswith triangular base and platform, i.e., the octahedral, the flagged, and the partially flagged, which are studied in this paper. The forward kinematics of the octahedralmanipulator ...
Flagged parallel manipulators
(IEEE, 2007)
Article.
Accés obert
Article.
Accés obert
The conditions for a parallel manipulator to be flagged can be simply expressed in terms of linear dependencies between the coordinates of its leg attachments, both on the base and on the platform. These dependencies permit ...