Kinematic analysis of the 3-RPS-3-SPR series–parallel manipulator
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DOI: 10.1017/s0263574718000826
Abstract: SUMMARY This paper deals with the kinematic analysis and enumeration of singularities of the six degree-of-freedom 3-RPS-3-SPR series–parallel manipulator (S–PM). The characteristic tetrahedron of the S–PM is established, whose degeneracy is bijectively mapped to the… read more here.
Keywords: series parallel; kinematic analysis; spr series; rps spr ... See more keywords