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Design and motion planning for a zero-reaction manipulator

San Diego, CA, pp.1554-1559vol.2, (1994)

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In a number of industrial, space, or mobile systems applications, reaction forces and moments transmitted by a manipulator to its base are undesirable. Based on the force and moment transmission analysis, a three DOF redundant manipulator design is selected aiming at reactionless motions. Dynamic reaction forces are eliminated by using fo...更多

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