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Six-degree-of-freedom parallel 'minimanipulator' with three inextensible limbs
Six-degree-of-freedom parallel 'minimanipulator' with three inextensible limbs
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机译:具有三个不可伸展的肢体的六自由度并行“微型操纵器”
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摘要
A Six-Degree-of-Freedom Parallel-Manipulator having three inextensible limbs for manipulating a platform is described in which the three inextensible limbs are attached via universal joints to the platform at non-collinear points. Each of the inextensible limbs is also attached via universal joints to a two-degree-of-freedom parallel driver such as a five-bar lineage, a pantograph, or a bidirectional linear stepper motor. The drivers move the lower ends of the limbs parallel to a fixed base and thereby provide manipulation of the platform. The actuators are mounted on the fixed base without using any power transmission devices such as gears or belts.
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