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Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy
ISBN:
9780791861615
No. of Pages:
496
Publisher:
ASME Press
Publication date:
2018
Citation
Portman, VT. "Kinematic Setup of Robots." Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy. Ed. Portman, VT. ASME Press, 2018.
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The FSF of the planar 3-DOF RRR robot-manipulator (Fig. 7.1) consists of six links (n = 6), among them three kinetmatic links rotating around the parallel axes and three geometric links fixing the distances between parallel axes. According to Eqs. (4.16-20), the FSF of the robot is
7.1
Serial-type kinematics robots
7.2Setup of parallel- and hybrid-kinematics machines
7.3Conclusion
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