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Hosseini, M. (2012). Kinematic Analysis of a Novel 3-CRS/PU Parallel Manipulator. ADMT Journal, 5(5), -.
Mir Amin Hosseini. "Kinematic Analysis of a Novel 3-CRS/PU Parallel Manipulator". ADMT Journal, 5, 5, 2012, -.
Hosseini, M. (2012). 'Kinematic Analysis of a Novel 3-CRS/PU Parallel Manipulator', ADMT Journal, 5(5), pp. -.
Hosseini, M. Kinematic Analysis of a Novel 3-CRS/PU Parallel Manipulator. ADMT Journal, 2012; 5(5): -.

Kinematic Analysis of a Novel 3-CRS/PU Parallel Manipulator

Article 6, Volume 5, Issue 5, Autumn 2012  XML PDF (230.89 K)
Author
Mir Amin Hosseini email
Abstract
 In this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. This mechanism has two rotational and one translational degree of freedom. Kinematics and Jacobian analysis are investigated. Moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in Matlab software. Because of decreasing moving elements, it is expected much more better dynamic performance with respect to other counterpart mechanisms with the same degrees of freedom. In addition, using couple of cylindrical and revolute joints increased mechanism ability to have more extended workspace.
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