Kinetostatic and dynamic properties of Cheope a parallel-serial manipulator

This work discusses the kinetostatic and dynamic p roperties of a new reconfigurable parallel-serial hybrid manipulator with redundant actuat ors carrying a serial wrist with 3 degrees of freedom (dof). The parallel part can be easily reconfigured w ith a simple disassembly and reassembly procedure to obtain different configurations. The paper focuses on the kinematics of the parallel structure solving the direct and the inverse kinematics of t he 3 dof configuration and analyzing the singularities. The evaluation of some kinetostatic perfor mance indices of the 3 dof configuration and some experimental result will be also presented.

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