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- W2348486094 abstract "The jacobian matrix of parallel manipulator maps the velocities of actuations into the angular and linear velocities of the moving platform.It's an important tool for performance analysis and design of parallel manipulator.In order to establish the complete jacobian matrix of 3-PRRU parallel manipulator,each single limb kinematic chain was firstly analyzed by screw theory.Jacobian of constraints is obtained through reciprocal basis screw of each single chain,which is a 3×6 non-square matrix.Then,jacobian of actuations is obtained through the second reciprocal basis screw of each single chain where the actuation is locked,which is a 3×6 non-square matrix.Finally,the 6×6 matrix of 3-PRRU parallel manipulator can be established on the basis of the two matrixes.The 6×6 Jacobian matrix provides information about singularities of 3-PRRU parallel manipulator." @default.
- W2348486094 created "2016-06-24" @default.
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- W2348486094 date "2011-01-01" @default.
- W2348486094 modified "2023-09-26" @default.
- W2348486094 title "Screw-Based Analytic Formulation of Jacobian Matrix of 3-PRRU Parallel Mechanism" @default.
- W2348486094 hasPublicationYear "2011" @default.
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