Abstract:The study of the kinematic performances of a parallel mechanisms an important aspect in terms of analysis and design. This paper presents a study on the kinematic manipulability and kinematic efficiency of a 6RSS parallel mechanism. The parallel mechanism consists of a fixed plate and a mobile platform connected by six independent kinematic chains. Each of the six kinematic chains has an actuated rotational joint and two spherical joints. The motion equations for the six kinematic chains of the parallel mechan… Show more
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