PARALLEL MECHANISM WITH KINEMATICALLY REDUNDANT ACTUATION
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United States of America Patent
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May 8, 2015
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May 8, 2014
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Abstract
A parallel mechanism comprises legs with kinematically redundant actuation for a parallel mechanism. Each of these legs comprises a first sub-leg and a second sub-leg, each said sub-leg comprising a proximal end and a distal end. A link has a proximal end and a distal end. A joint with a rotational degree of freedom (DOF) is between and common to the distal ends of each of the first sub-leg and the second sub-leg, and the proximal end of the link. A joint provides at least two rotational DOFs at the distal end of the link and is adapted to connect the distal end of the link to one end of the parallel mechanism. Joints in the first sub-leg and the second sub-leg to provide DOFs to the sub-legs and to connect the proximal ends of the sub-legs to the other end of the parallel mechanism. A degree of actuation (DOA) is provided for each of the first sub-leg and the second sub-leg to control movement of the link. A method for controlling movement of the parallel mechanism is also provided.
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