A new synthesis algorithm for general three-revolute open chain manipulators is proposed making use of an algebraic formulation for the workspace boundary. This algebraic form of a synthesis model is used to formulate design equations and to discuss the number and the type of the multiple solutions.
A Synthesis Algorithm for Three-Revolute Manipulators by Using an Algebraic Formulation of Workspace Boundary
Dipartimento di Ingegneria Industriale, Universita` di Cassino, Via Zamosch 43, 03043 Cassino (FR), Italy
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Ceccarelli, M. (June 1, 1995). "A Synthesis Algorithm for Three-Revolute Manipulators by Using an Algebraic Formulation of Workspace Boundary." ASME. J. Mech. Des. June 1995; 117(2A): 298–302. https://doi.org/10.1115/1.2826138
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