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    A Parallel Manipulator with Only Translational Degrees of Freedom

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    No. of downloads: 2649

    Date
    1997
    Author
    Tsai, Lung-Wen
    Stamper, Richard E.
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    Abstract
    This report presents a novel three degree of freedom parallel manipulator that employs only revolute joints and constrains the manipulator output to translational motion. Closed-form solutions are developed for both the inverse and forward kinematics. It is shown that the inverse kinematics problem has up to four real solutions, and the forward kinematics problem has up to 16 real solutions.
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    http://hdl.handle.net/1903/5883
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    DRUM is brought to you by the University of Maryland Libraries
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