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摘要
This paper presents a natural extension of the classical input-output equation of a four-bar spherical linkage to the forward displacement analysis of a 3-RRR spherical parallel manipulator. As a main result, it is obtained a closed-form solution represented by a 16th-degree polynomial in terms of only one variable. In addition, the proposed method works equally well for general geometries and for special geometries of the mobile platform and fixed platform of the manipulator. A fully detailed case study is reported.
- 出版日期2017-3
