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Analysis of the Total Orientation Workspace of a Type of n-PPPS Parallel Manipulator*

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), pp.160-166, (2021)

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Abstract

The total orientation workspace (TOW) is fundamental to the design and application of a parallel manipulator. Among various PM structures, a type of n-PPPS PMs, whose limbs consisted of three active prismatic joints and one passive spherical joint, is widely used in assembly tasks of jointing cabin sections. In this paper, the shape of th...More

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