Abstract
The algebraic screw pair, or A-pair, represents a new class of kinematic constraint that exploits the self-motions inherent to a specific configuration of Griffis–Duffy platform. The A-pair causes a sinusoidal coupling of rotation and translation between adjacent links in the kinematic chain. The resulting linkage is termed an A-chain. This paper presents a derivation of the manipulator Jacobian of nA-chains in general, and a specific 4 degree-of-freedom hybrid serial-parallel 4A-chain.
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References
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© 2012 Springer Science+Business Media Dordrecht
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Robinson, J.D., Hayes, M.J.D. (2012). Velocity Level Kinematic Analysis of Serial nA-Chains. In: Lenarcic, J., Husty, M. (eds) Latest Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4620-6_49
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DOI: https://doi.org/10.1007/978-94-007-4620-6_49
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-4619-0
Online ISBN: 978-94-007-4620-6
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