By Topic

Kinematic analysis of a three-degrees-of-freedom in-parallel actuated manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Kok-Meng Lee ; George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Altanta, GA, USA ; Shah, D.K.

An alternative design of a three-degrees-of-freedom manipulator based on the concept of an in-parallel actuated mechanism is presented. The manipulator has two degrees of orientation freedom and one degree of translatory freedom. The basic kinematic equations for use of the manipulator are derived and the influences of the physical constraints on the range of motion in the practical design are discussed. Several possible applications which include the in-parallel mechanism as part of the manipulation system are suggested

Published in:

Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 3 )