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REFERENCES 1. Bałchanowski J. (2014), Topology and analysis of the singularities of a parallel mechanism with three degrees of freedom, Archives of Civil & Mechanical Engineering , 14(1), 80-87. 2. Banke B., Dhiraj K., Chandan J., Vijay S. (2014), Rathore and Anjan Kumar Dash A geometric approach for the workspace analysis of two symmetric planar parallel manipulators, Robotica , FirstView, 1 – 26. 3. Briot S., Bonev I. A. (2008), Accuracy analysis of 3-DOF planar parallel robots, Mechanism and Machine Theory , 43(4), 445-458. 4. Choi J. H., Seo T., Lee