Layanan journal yang disediakan oleh Perpustakaan Universitas Gunadarma
| Judul Artikel | : | Design and Kinematics of a Three-Legged Parallel Manipulator |
|---|---|---|
| Judul Terbitan | : | IEEE Transactions On Robotics And Automation |
| ISSN | : | 1042296X |
| Bahasa | : | ENG |
| Tempat Terbit | : | New - York |
| Tahun | : | 0000 |
| Volume | : | Vol. 19 Issue 4 0000 |
| Penerbit | : | IEEE |
| Frekuensi Penerbitan | : | |
| Penulis | : | Peter B. Goldsmith |
| Abstraksi | : | This paper investigates the kinematics and stiffness an isotropic three-legged manipulator having six degrees of freed Rotary motors at the base rotate the tool by using the extensible legs drive shafts. The manipulator has the positional stiffness of a p manipulator and the rotational stiffness of a serial manipulator. inertia results from having only three legs and having three fixed at the base. The inverse kinematics are obtained in closed fo Singularities are characterized for the case of concentric u-joints at tool. These singularities yield the constraint singularities of a re 3-universal–prismatic–universal translational manipulator. |
| Kata Kunci | : | Kinematics; parallel manipulators; singularity ana stiffness. |
| Lokasi | : | p. 731 |
| Terakreditasi | : | belum |