Structural synthesis of 'parallel' robots generating spatial translation

摘要

Presents a tool, based on the mathematical group theory, for the synthesis of new parallel structure robots. By the kinematic principle of displacement subgroups intersection a family of 3 degrees of freedom robots for pure spatial translation movements is conceived. One of the many possible implementations is also given as an example.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>