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Position Kinematics of a 3-RRS Parallel Manipulator
The 3-RRS parallel manipulator presented in this study comprises of parallel revolute joint axes in each leg. The manipulator is composed of a base and a moving platform which are in the shape of equilateral triangles. ...
Computing the safe working zone of a 3-RRS parallel manipulator
Determination of the safe working zone (SWZ) of a parallel manipulator is a one-time computational task with several permanent benefits. As this subspace of the workspace of the manipulator is free of both the loss- and ...