Effects of constraint errors on parallel manipulators with decoupled motion

DOI10.1016/J.MECHMACHTHEORY.2006.03.012MaRDI QIDQ2496282zbMATH OpenOpenAlexFDO

Authors Yan Jin, I. M. Chen

Publication date 12 July 2006

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2006.03.012

zbMATH Keywords

6-DOF manipulatorrotationtranslation

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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(3)

• Kinematic design of a family of 6-DOF partially decoupled parallel manipulators
• Generic mobility of rigid body mechanisms
• Geometric error modeling of parallel manipulators based on conformal geometric algebra

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