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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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Chapter 7

Kinematics with Four Points′ Cartesian Coordinates for Spatial Parallel Manipulator

Abstract

On the basis of the natural coordinate method, the sufficiency and necessity are firstly proved so that the kinematics model can be established for a type of spatial parallel mechanism only with four non-coplanar points’ Cartesian coordinates. This method has a significant advantage in dealing with kinematics issues of spatial parallel mechanisms with more than three degrees of freedom. As this model introduces only the Cartesian coordinate, and the elements of the derivative matrix contain only the linear term or even the constant term, the elements of the derivative matrix obtained through the modeling method of the rotation matrix transformation ...

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