The Jacobian Analysis of a Parallel Manipulator Using Reciprocal Screws

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dc.contributor.advisorTsai, L. W.en_US
dc.contributor.authorTsai, L. W.en_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T10:05:48Z
dc.date.available2007-05-23T10:05:48Z
dc.date.issued1998en_US
dc.description.abstractIn this paper, the theory of reciprocal screws is reviewed. Reciprocal screwsystems associated with some frequently used kinematic pairs and chains aredeveloped. Then, the application of reciprocal screw systems for theJacobian analysis of parallel manipulators is described. The Jacobian andsingular conditions of a six-degree-of-freedom parallel manipulator are analyzed.en_US
dc.format.extent272245 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/5952
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1998-34en_US
dc.subjectkinematicsen_US
dc.subjectroboticsen_US
dc.subjectJacobianen_US
dc.subjectscrew theoryen_US
dc.subjectparallel manipulatorsen_US
dc.subjectIntelligent Control Systemsen_US
dc.titleThe Jacobian Analysis of a Parallel Manipulator Using Reciprocal Screwsen_US
dc.typeTechnical Reporten_US

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