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International Conference on Intelligent Robotics and Applications

ICIRA 2013: Intelligent Robotics and Applications pp 730–741Cite as

Mobility Analysis of Two Exechon-Liked Parallel Mechanisms

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8102))

Abstract

Parallel mechanisms (PM) with two rotations and one translation (2R1T) have been used extensively. The parallel module of the Exechon robot is one of the most successful cases, which is equal to a 2-SPR-UPR PM. Few researchers mentioned what would happen to the PM’s DOF if the arrangement of limbs were changed. Using screw theory, we investigate the mobility of the 2-SPR-UPR PM with two different arrangements of limbs. It is shown that the 2-SPR-UPR PM has two DOFs when its limbs are arranged to be symmetrical or to be parallel.

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Author information

Authors and Affiliations

  1. Mechatronic Institute, Zhejiang Sci-Tech University, Hangzhou, Zhejiang, 310018, China

    Xinxue Chai, Qiaohong Chen, Jigang Ma & Qinchuan Li

Authors
  1. Xinxue Chai
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  2. Qiaohong Chen
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  3. Jigang Ma
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  4. Qinchuan Li
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, Pusan National University, South Korea

    Jangmyung Lee

  2. School of Mechanical Engineering, Pusan National University, Busan, South Korea

    Min Cheol Lee

  3. Intelligent Systems & Biomedical Robotics Group, School of Creative Technologies, University of Portsmouth, PO1 2DJ, England, UK

    Honghai Liu

  4. School of Mechanical Engineering, Biorobotics Laboratory, Korea University of Technology and Education, Gajeon-ri Byeongcheon-myeon 307, 330-708, Cheonan, Korea

    Jee-Hwan Ryu

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© 2013 Springer-Verlag Berlin Heidelberg

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Chai, X., Chen, Q., Ma, J., Li, Q. (2013). Mobility Analysis of Two Exechon-Liked Parallel Mechanisms. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40852-6_72

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  • DOI: https://doi.org/10.1007/978-3-642-40852-6_72

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40851-9

  • Online ISBN: 978-3-642-40852-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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