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- W2948402947 endingPage "168781401985307" @default.
- W2948402947 startingPage "168781401985307" @default.
- W2948402947 abstract "This article proposes a family of spatial three translational and one rotational parallel mechanisms (PMs) for pick-and-place operation. Their features are one independent rotation of the mechanism with four identical limbs, which are provided by the four revolute joints on the moving platform. The rotational capability of the PMs has a range of at least 180°. This article focuses on the synthesis of the PMs and kinematics analysis of the 4- P(2-SS)R parallel mechanism. First, based on the Lie group theory, three parallelograms are used in designing the PMs. The limbs are listed and two types of three translational and one rotational PMs are synthesized. Then, a typical 4- P(2-SS)R PM is selected, the 6 × 6 Jacobian matrix and the 6 × 6 × 6 Hessian matrix of the mechanism are derived for solving the displacement, velocity, and acceleration of the mechanism. Finally, singularity configurations are disclosed from the 6 × 6 Jacobian matrix, and the workspace of the mechanism is provided to illustrate the high rotational capability." @default.
- W2948402947 created "2019-06-14" @default.
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- W2948402947 date "2019-06-01" @default.
- W2948402947 modified "2023-10-18" @default.
- W2948402947 title "Type synthesis and kinematics analysis of a family of three translational and one rotational pick-and-place parallel mechanisms with high rotational capability" @default.
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- W2948402947 doi "https://doi.org/10.1177/1687814019853076" @default.
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