Design of Limb for Parallel Mechanism Based on Screw Theory

Abstract : Based on the reciprocal relationship of twist and wrench in screw theory, the mathematical model for limb of parallel manipulator is established in this paper. According to the motion modes of mobile platform (translation or rotation), we concluded the geometric conditions which the prismatic joint or revolute joint must meet with by analyzing the constraint screw on the platform, which provides the background for development of parallel mechanism.
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Zhigang Lai, Lixin Li, Ping’ Liu. Design of Limb for Parallel Mechanism Based on Screw Theory. 4th Conference on Computer and Computing Technologies in Agriculture (CCTA), Oct 2010, Nanchang, China. pp.508-518, ⟨10.1007/978-3-642-18333-1_60⟩. ⟨hal-01559589⟩

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