Mobility and spatiality of parallel robots revisited via theory of linear transformations

• Published in: European journal of mechanics, A, Solids Vol. 24; no. 4; pp. 690 - 711
• Main Author: Gogu, Grigore
• Format: Journal Article
• Language: English
• Published: Paris Elsevier Masson SAS 01.07.2005; Elsevier
• Subjects: Applied sciences; Drives; Exact sciences and technology; Fundamental areas of phenomenology (including applications); Linear transformations; Linkage mechanisms, cams; Mechanical engineering. Machine design; Mobility; Parallel robots; Physics; Solid dynamics (ballistics, collision, multibody system, stabilization...); Solid mechanics; Spatiality; Mobility; Linear transformations; Parallel robots; Spatiality; Closed loop; Machining; Parallel mechanism; Modeling; Robotics; Parallel robots: Mobility; Linear transformation; Kinematics; Linkage mechanism; Open loop; Kinematic chain

Parallel robots are extensively used for various applications including manipulation, machining, guiding, testing and control. The mechanical architecture of parallel robots is based on parallel mechanisms in which a mobile platform is connected to a reference element by at least two legs. Mobility...