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- W2898892793 abstract "This article presents the kinematic analysis of a six-degree-of-freedom six-legged parallel mechanism of the 6-PUS architecture. The inverse kinematic problem is recalled and the Jacobian matrices are derived. Then, an algorithm for the geometric determination of the workspace is presented, which yields a very fast and accurate description of the workspace of the mechanism. Singular boundaries and a transmission ratio index are then introduced and studied for a set of architectural parameters. The proposed analysis yields conceptual architectures whose properties can be adjusted to fit given applications." @default.
- W2898892793 created "2018-11-09" @default.
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- W2898892793 date "2018-08-26" @default.
- W2898892793 modified "2023-09-26" @default.
- W2898892793 title "Kinematic and Workspace Modelling of a 6-PUS Parallel Mechanism" @default.
- W2898892793 doi "https://doi.org/10.1115/detc2018-86122" @default.
- W2898892793 hasPublicationYear "2018" @default.
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