@inproceedings{faf43aed562e40e4857e176936ae5c84,
title = "Study on the kinematics of a new redundant actuated PKMS",
abstract = "Due to the singularities, the orientation workspace of Parallel Kinematics Machines (PKMs) is very small. The redundant actuators can remove singularities and extend the workspace of PKMs. A new redundant actuated mechanism for machining was introduced, and it could be subpart of 5-axis machining equipment. The structure of the mechanism was described and its inverse and forward kinematics equation was analyzed. The velocity relationship was given due to the velocity constraint. At last the dexterity of both redundant and no redundant mechanisms was analyzed, and the result showed that there was no singularities in the workspace of the mechanisms with redundant actuators.",
keywords = "Dexterity, PKMs, Redundant actuator, Singularity",
author = "Xianguo Han and Wuyi Chen",
year = "2004",
language = "英语",
isbn = "780183500X",
series = "Progress of Machining Technology - Proceedings of the Seventh International Conference on Progress of Machining Technology, ICPMT'2004",
pages = "424--429",
editor = "W. Chen and Y. Yamane and R. Fan and A. Ochi",
booktitle = "Progress of Machining Technology - Proceedings of the Seventh International Conference on Progress of Machining Technology, ICPMT'2004",
note = "Progress of Machining Technology - Proceedings of the Seventh International Conference on Progress Machining Technology, ICPMT'2004 ; Conference date: 08-12-2004 Through 11-12-2004",
}