A new 3 D.O.F. spatial parallel mechanism
作者： Marco Ceccarelli
DOI: 10.1016/S0094-114X(97)00019-0
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摘要: This paper describes a new 3 D.O.F. parallel mechanism. The kinematic chain is composed of leg mechanisms containing articulated parallelograms and peculiar connection with ball joints prismatic guides has been utilised to obtain suitable direct kinematics easy actuation. engineering feasibility illustrated by investigating on the basic performances. Particularly, an analytical algorithm developed for displacement analysis which permits workspace evaluation path generation trajectory orientation capabilities.
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