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Published in:
2014 | OriginalPaper | Chapter
4. Velocity and Jacobian Analysis of Parallel Mechanisms
Authors : Xin-Jun Liu, Jinsong Wang
Published in: Parallel Kinematics
Publisher: Springer Berlin Heidelberg
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Abstract
This chapter extends the study of parallel mechanisms from the position analysis to the velocity analysis. Each velocity equation is firstly obtained by differentiating the position equation with respect to time, and Jacobian matrix respecting the relationship between the input and output is further established. Several corresponding examples are illustrated.