Journal ArticleDOI
Some Kinematic Structures for Robot Manipulator Designs
C. F. Earl,J. Rooney +1 more
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This article is published in Journal of Mechanisms Transmissions and Automation in Design.The article was published on 1983-03-01. It has received 70 citations till now. The article focuses on the topics: Mobile manipulator & Denavit–Hartenberg parameters.read more
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A Stewart-Platform based manipulator: general theory and practical construction
TL;DR: The Stewart Platform is one example of a parallel connection robot manipulator as discussed by the authors, and it has been used extensively in the past several years for a variety of tasks in the field of robotics.
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The Stewart platform manipulator: a review
TL;DR: A review of the literature on the six-degree-of-freedom parallel manipulator commonly known as the Stewart platform can be found in this article, where the authors highlight the distinctions of this class from the conventional serial robot manipulators and the novel perspectives that are necessary for the analysis and design of the Stewart platforms in particular and parallel manipulators in general.
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Mobility of Overconstrained Parallel Mechanisms
TL;DR: In this paper, the Kutzbach-Grubler mobility criterion is used to calculate the degrees of freedom of a general mechanism, but the criterion can break down for mechanisms with special geometries, and in particular, the class of overconstrained parallel mechanisms.
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New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs
TL;DR: Based on the special Plucker coordinates for describing the displacement of the output link of a limb, the principle for design of structures of parallel robotic mechanisms is presented in this article, where several types of composite pairs and new kinds of sub-chains (limbs or legs) with specific degrees of freedom are proposed.
Journal ArticleDOI
Direct position analysis of the Stewart platform mechanism
TL;DR: The direct position analysis of the Stewart platform mechanism, that is to find position and orientation of the platform when a set of actuator displacements is given, has been performed in closed-form and leads to a 16th order polynomial equation in one unknown from which 16 different positions and orientations of theplatform can be derived.