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Kinematics Analysis of a Class of Spherical PKMs by Projective Angles

1
Department of Mechanical and Industrial Engineering, University of Brescia, 25123 Brescia, Italy
2
Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council, 20133 Milan, Italy
*
Author to whom correspondence should be addressed.
Robotics 2018, 7(4), 59; https://doi.org/10.3390/robotics7040059
Received: 4 July 2018 / Revised: 17 September 2018 / Accepted: 17 September 2018 / Published: 20 September 2018
(This article belongs to the Special Issue Kinematics and Robot Design I, KaRD2018)
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PDF [2530 KB, uploaded 20 September 2018]
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Abstract

This paper presents the kinematics analysis of a class of spherical PKMs Parallel Kinematics Machines exploiting a novel approach. The analysis takes advantage of the properties of the projective angles, which are a set of angular conventions of which their properties have only recently been presented. Direct, inverse kinematics and singular configurations are discussed. The analysis, which results in the solution of easy equations, is developed at position, velocity and acceleration level. View Full-Text
Keywords: projective angles; spherical PKM; direct kinematics; inverse kinematics projective angles; spherical PKM; direct kinematics; inverse kinematics
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Legnani, G.; Fassi, I. Kinematics Analysis of a Class of Spherical PKMs by Projective Angles. Robotics 2018, 7, 59.

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