English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Zendy Plus

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Zendy Tools

Zendy Open

This paper focuses on the kinematic properties of a newthree-degree-of-freedom hybrid manipulator. This manipulator is obtained byadding in series to a five-bar planar mechanism (similar to the one studied byBajpai and Roth) a third revolute passing through the line of centers of thetwo actuated revolute joints of the above linkage. The resulting architectureis hybrid in that it has both serial and parallel links. Fully-parallelmanipulators are known for the existence of particularly undesirablesingularities (referred to as parallel singularities) where control is lost [4]and [6]. On the other hand, due to their cantilever type of kinematicarrangement, fully serial manipulators suffer from a lack of stiffness and fromrelatively large positioning errors. The hybrid manipulator studied isintrinsically stiffer and more accurate. Furthermore, since all actuators arelocated on the first axis, the inertial effects are considerably reduced. Inaddition, it is shown that the special kinematic structure of our manipulatorhas the potential of avoiding parallel singularities by a suitable choice ofthe "working mode", thus leading to larger workspaces. The influence of thedifferent structural dimensions (e.g. the link lengths) on the kinematic andmechanical properties are analysed in view of the optimal design of such hybridmanipulators.

The Kinematic design of a 3-dof Hybrid Manipulator