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• W1674647641 abstract "A modular parallel robotic system consists of a collection of individual standard units that can be assembled into various robot configurations for a diversity of task requirements. This paper is focused on the design and kinematic analysis of modular reconfigurable parallel robots. A set of fundamental modules is considered. A local frame representation of the product-of-exponentials (POE) formula, i.e., the local POE formula, is employed for the kinematic analysis of modular parallel robots. Two forward displacement analysis algorithms and a workspace visualization scheme are presented for a class of 3-leg modular parallel robots. Computation examples are also given to demonstrate the effectiveness of the proposed algorithms. The kinematic formulation shows that the local POE formula is a systematic and well-structured method for the kinematic analysis of parallel robots." @default.
• W1674647641 created "2016-06-24" @default.
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• W1674647641 date "2003-01-20" @default.
• W1674647641 modified "2023-09-22" @default.
• W1674647641 title "Design and kinematic analysis of modular reconfigurable parallel robots" @default.
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• W1674647641 doi "https://doi.org/10.1109/robot.1999.773973" @default.
• W1674647641 hasPublicationYear "2003" @default.
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