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- W2966751270 abstract "This paper deals with the kinematics of a novel 5 degrees of freedom (5-DoF) hybrid robot without singularity configurations, which is composed of a 4-DoF parallel robot plus an X table. The 4-limb parallel robot is especially designed as cross-arranged 2-PRU/2-PUS without singularity configurations during moving. Based on the Grassmann linear geometry principle, the residual degree of freedom singularity at the initial position of the 5-DoF robot is studied. Then considering the constraint screws of the parallel robot, the DoF of the hybrid robot is analyzed. On the basis of screw theory, the complete Jacobian matrix is established. And the theoretical model is verified by the numerical example. The complete Jacobian matrix is helpful for further analysis of the complete performance of the hybrid robot." @default.
- W2966751270 created "2019-08-13" @default.
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- W2966751270 date "2019-01-01" @default.
- W2966751270 modified "2023-10-17" @default.
- W2966751270 title "A Novel 5-DOF Hybrid Robot Without Singularity Configurations" @default.
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- W2966751270 doi "https://doi.org/10.1007/978-3-030-27535-8_40" @default.
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