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Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy

By
Vladimir T. Portman
Vladimir T. Portman
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ISBN:
9780791861615
No. of Pages:
496
Publisher:
ASME Press
Publication date:
2018

In the two past decades, the parallel kinematics mechanisms (PKMs) have received wide acceptance for the design of robots and machines of different types. In these mechanisms, the output link – end-effector (EE) – usually presents a multi-degree-of-freedom platform (Fig. 5.1), which is directly and simultaneously (in-parallel) connected with another link (e.g., a fixed base) through several independent kinematic chains. Two parallel chains together with the base and platform form a kinematic closed loop. This fact explains the presently accepted definition of a generalized parallel manipulator, a closed-loop kinematic chain mechanism whose end-effector is linked to the base by several...

5.1
General description
5.2
Position analysis of the parallel-kinematics systems
5.3
FSF formulation
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