Browsing by Subject "Kinematic constraints"

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Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators using Tait-Bryan-Angle Kinematic Constraints

Schappler, Moritz (Cham : Springer, 2022-06-18)

Functional redundancy for parallel manipulators (PM) with 3T1R degrees of freedom (DoF) presents an untreated niche regarding a general and systematic kinematic description. For an efficient formulation of the inverse ...
Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots using Tait-Bryan-Angle Kinematic Constraints

Schappler, Moritz (Cham : Springer, 2022-06-18)

The basic parallel robotics principle of defining kinematic constraints as vector loops is transferred from the general 3T3R case to the 3T2R case by applying a nonlinear Tait-Bryan-angle rotation constraint using the ...

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