The Jacobian Analysis of a Parallel Manipulator Using the Theory of Reciprocal Screws
نویسندگان
چکیده
In this paper, the theory of reciprocal screws is reviewed. Reciprocal screw systems associated with some frequently used kinematic pairs and chains are developed. Then, the application of reciprocal screw systems for the Jacobian analysis of parallel manipulators is described. The Jacobian and singular conditions of a six-dof parallel manipulator are analyzed.
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تاریخ انتشار 1998