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- W2059990143 abstract "A wide family of parallel manipulators (PMs) is the one that groups all the PMs with three legs where the legs become kinematic chains constituted of a passive spherical pair (S) in series with either a passive prismatic pair (P) or a passive revolute pair (R) when the actuators are locked. The topologies of the structures generated by these manipulators, when the actuators are locked, are ten. One out of these topologies is the SR-2PS topology (one SR leg and two PS legs). This paper presents an algorithm that determines all the assembly modes of the structures with topology SR-2PS in analytical form. The presented algorithm can be applied without changes to solve, in analytical form, the direct position analysis of any parallel manipulator which generates a SR-2PS structure when the actuators are locked. In particular, the closure equations of a generic structure with topology SR-2PS are written. The eliminant of this system of equations is determined and the solution procedure is presented. Finally, the proposed procedure is applied to a real case. This work demonstrates that the solutions of the direct position analysis of any parallel manipulator which generates a SR-2PS structure when the actuators are locked are at most eight." @default.
- W2059990143 created "2016-06-24" @default.
- W2059990143 creator A5013092459 @default.
- W2059990143 date "2004-01-01" @default.
- W2059990143 modified "2023-10-16" @default.
- W2059990143 title "Direct Position Analysis in Analytical Form of Parallel Manipulators Generating Structures With Topology SR-2PS" @default.
- W2059990143 doi "https://doi.org/10.1115/detc2004-57036" @default.
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