On the Seven Position Synthesis of a 5-SS Platform Linkage
- 1 November 1997
- journal article
- Published by Wiley in Journal of Mechanical Design
- Vol. 123 (1) , 74-79
Abstract
This paper builds on Innocenti’s polynomial solution for the 5-SS platform that generates a one-degree of freedom movement through seven specified spatial positions of a rigid body. We show that his 60×60 resultant can be reduced to one that is 10×10. We then actuate the linkage using a prismatic joint on the sixth leg and determine the trajectory of the reference point through the specified positions. The singularity submanifold of this associated 6-SS platform provides information about the movement characteristics of the 5-SS linkage.Keywords
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