2009 | OriginalPaper | Buchkapitel
Uncoupled 6-dof Tripods via Group Theory
verfasst von : Chung-Ching Lee, Jacques M. Hervé
Erschienen in: Computational Kinematics
Verlag: Springer Berlin Heidelberg
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Using kinematic equivalencies originating from the closure of the product in displacement Lie subgroups, we have synthesized seven 6-dof tripods that allow the actuation of the positioning of a center of spherical motion and the independent actuation of the spherical motion around the center. These two actuations are uncoupled. One of these tripods, 3-P
RPP
(RR), is truly amazing by fully actuating the inputs closely near the base.