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Parallelotriangular Mechanisms and Line Contact Constraint

Authors: [tex2html_wrap4334]P.J. Zsombor-Murray, J. Angeles, M. Husty, H.M. Daniali

Investigator username: paul

Category: robotics

Subcategory: modelling and simulation

The pair of tetrahedra that move with intersecting edges is a parallel mechanism with 6 line contact constraints; the 6 RPR*PR joints. It is also a 6-legged platform that moves, albeit with legs of zero length. Such 5DOF joints or, conversely, ones that inhibits only 1DOF are conveniently studied with simple double triangular mechanisms, of planar, spherical and spatial variety, which use them. Forward kinematics, singularity and isotropy of the first two types have been obtained.