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Erschienen in:
2009 | OriginalPaper | Buchkapitel
Non overconstrained T3-type TPMs with coupled motions
Erschienen in: Structural Synthesis of Parallel Robots
Verlag: Springer Netherlands
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Equation (1.15) indicates that
non overconstrained
solutions of
T3
-type TPMs with
coupled motions
and
q
independent loops meet the condition
$$\sum\nolimits_1^p {f_i } \, = \,3\, + \,6q\,.$$
Various solutions fulfil this condition along with
S
F
=
3
, (
R
F
) = (
v
1
,(
v
2
,
v
3
) and
N
F
=
0
. They can have identical limbs or limbs with different structures and may be actuated by linear or rotating motors.