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Keywords: spherical chain
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031014.
Published Online: July 23, 2010
... connecting to both base and platform via revolute joints. This paper investigates the constraint of the mechanism by constructing a virtual symmetric plane that is based on the three virtual centers of the spherical chains. Revealing the geometric characteristics and constraint disposition of the constraint...