Kinematics and singularity analysis of a novel hybrid industrial manipulator

This paper proposes a new type of hybrid manipulator that can be of extensive use in industries where translational motion is required while maintaining an arbitrary end-effector orientation. It consists of two serially connected parallel mechanisms, each having three degrees of freedom, of which th...

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Veröffentlicht in:	Robotica 2024-02, Vol.42 (2), p.579-610
Hauptverfasser:	Modak, Sadanand, K, Rama Krishna
Format:	Artikel
Sprache:	eng
Schlagworte:	Design optimization End effectors Kinematics Manipulators Mathematical analysis Three dimensional models Translational motion
Online-Zugang:	Volltext
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