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Control Distribution of Partially Decoupled Multi-level Manipulators with 5 DOFs
(Cambridge University Press, 2017-02-01)
Multi-level manipulators are those mechanisms in which two or more levels, that de ne the main chain of the manipulator, are joined in parallel to each other. Besides, each level is linked to the base in parallel by ...
Parallel manipulators: practical applications and kinematic design criteria. Towards the modular reconfigurable robots
Modern robotic manipulators play an essential role in industry, developing several tasks in an easy way, enhancing the accuracy of the final product and reducing the executing time. Also they can be found in other fields ...
A Proposal for a Formula of Absolute Pole velocities between Relative Poles
In this paper is proposed a vectorial equation that relates the absolute pole velocities of three moving rigid bodies with a planar motion of general type. From this equation, it is possible to obtain a relation between ...
Multioperation capacity of parallel manipulators basing on generic kinematic chain approach
The idea of designing multioperation mechanisms capable of performing different tasks has gained prominence in the last years. These mechanisms, commonly called reconfig- urable mechanisms, have the ability to change their ...