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Title: Planar parallel manipulators: Structure based selection from the viewpoint of workspace
Authors: Srinath, A
Rao, A C
Issue Date: Apr-2005
Publisher: CSIR
IPC CodeB25J
Abstract: It is known that serial manipulators generate greater workspace. Recent trend is to use planar parallel manipulators where heavy loads are to be handled. There are a large number of planar parallel structures available with the same number of links and degree of freedom (d.o.f.). However, there is no quantitative measure to estimate the parallelism present in a chain. Mathematical measures are proposed to estimate parallelism that exists in a chain, since it influences the rigidity and workspace. Also, formulae are suggested to get insight of the workspace generated, i.e., well conditioned or not.
Page(s): 104-110
ISSN: 0975-1017 (Online); 0971-4588 (Print)
Source:IJEMS Vol.12(2) [April 2005]

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