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|Title:||Measure of parallelism for in-parallel robotic structures|
|Authors:||Rao, A C|
|Abstract:||Multi-degree-of-freedom (d.o.f.) planar kinematic chains can be considered for application as in-parallel robots in view of their greater rigidity. A number of distinct chains are available with the same number of links and degree-of-freedom for consideration as in-parallel structures. Hence, it becomes necessary to know which of these chains are more in-parallel so that selection of the chains for the specified task such as work space, rigidity becomes easy. A simple and logical method is presented in this paper to accomplish the same. The efficiency of parallel systems is high and component velocities are less but this aspect is not dealt with since they are well-established. Measure of parallelism developed in this paper enables comparison of distinct chains for these characteristics also.|
|ISSN:||0975-1017 (Online); 0971-4588 (Print)|
|Appears in Collections:||IJEMS Vol.08(3) [June 2001]|
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