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Eclipse-II: a new parallel mechanism enabling continuous 360-degree spinning plus three-axis translational motions

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4 Author(s)
Jongwon Kim ; Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., South Korea ; Jae-Chul Hwang ; Jin-Sung Kim ; F. C. Park

This paper presents the Eclipse-II, a new six degree-of-freedom parallel mechanism, which can be used as a basis for general motion simulators. The Eclipse-II is capable of s, p and z-axis translations and n, b and c-axis rotations. In particular, it has the advantage of enabling continuous 360-degree spinning of the platform. The computational procedures for forward and inverse kinematics of the Eclipse-II are described. The complete singularity analysis is presented for the two cases of end-effector singularity and actuator singularity. Two additional actuators are added to the original mechanism to eliminate both types of singularity within the workspace.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

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