Singularity analysis and dexterity performance on a novel parallel mechanism with kinematic redundancy
This article presents a novel spatial parallel mechanism with kinematic redundancy. The design strategy and evolution of the proposed mechanism is introduced, and kinematic model of the mechanism is established. To simplify singularity analysis of this kind of mechanism, the virtual plane method whi...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-08-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881419872641 |