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Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms by Ning Ma, Fulei Chu, Zhijing Feng, Jingshan Zhao

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Index

2R1T spatial parallel manipulator, 439
3-PPRR spatial parallel mechanism, 301
3-RRR parallel manipulator, 169, 176
inverse displacement solutions of the angular inputs, 177
searching process for reachable workspace, 178
three vertexes of end effector, 176
3-UPU parallel manipulator, singularities of, 221
degree-of-freedoms (DOFs), 221
kinematic screws of limb, 224
Plücker coordinates of slider, 224
reciprocal screw of kinematic chain, 224
screw analysis of limb in local coordinate system, 223
singularity criterion of manipulator, 225
terminal constraints of kinematic chains, 224
π/2-singular surfaces, 222
3-UPU parallel manipulator
absolute coordinates, 167
geometry characteristics, 167168
transformation matrix, 167
workspace of end ...

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