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Analytical kinematics models and special geometries of a class of 4-DOF parallel mechanisms

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3 Author(s)
Zoppi, M. ; Dept. of Mech. & Machine Design, Univ. of Genova, Italy ; Zlatanov, D. ; Gosselin, C.M.

The paper discusses forward and inverse kinematics of a class of four-degree-of-freedom (DOF), four-legged parallel mechanisms providing three rotational and one translational DOFs. A fully parametric analytical form solution to the inverse-position problem is provided. All working modes of the mechanism are shown and discussed. The equations of the forward-position problem are obtained under different leg arrangements, and a numerical example is provided. New special geometries in the class are proposed, including one suitable for keyhole surgery.

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Robotics, IEEE Transactions on  (Volume:21 ,  Issue: 6 )