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• W2150791921 abstract "SUMMARY A novel 3-leg 5-DoF parallel manipulator (PM) with a UPU-type composite active constrained leg is proposed and its kinematics and statics are analyzed systematically. First, the formulae are derived for solving the inverse/forward displacements, inverse/forward velocities, and active/constraint forces. Second, the formulae are derived for solving inverse/forward accelerations. Third, a simulation mechanism of this PM is created and its workspace is constructed and analyzed. Finally, the analytic results are verified by its simulation mechanism." @default.
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• W2150791921 date "2012-05-17" @default.
• W2150791921 modified "2023-10-16" @default.
• W2150791921 title "Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg" @default.
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• W2150791921 doi "https://doi.org/10.1017/s0263574712000215" @default.
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