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constrained force

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Analyzing kinematics and solving active/constrained forces of a 4-dof 3SPS+SP parallel manipulator
Yi Lu, Bo Hu
Journal:

Robotica / Volume 27 / Issue 1 / January 2009

Published online by Cambridge University Press:

01 January 2009, pp. 29-36
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A novel 3SPS+SP parallel manipulator (PM) with 4-dof is proposed. Its kinematics and statics are analyzed systematically. The analytic formulae for solving the displacement, velocity, acceleration, workspace, active forces and constrained force are derived. The analytic results are verified by using a simulation mechanism of the 3SPS+SP PM.