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This paper presents a systematic approach to compute the angularity and the axiality indices for a Schönflies parallel manipulator. Angularity index may be considered as a measure of the sensitivity of the mobile platform to changes in rotation, while axiality index can be used to measure the sensitivity of the OP of the mobile platform to changes in translation. Since both indices were inspired by very fundamental concepts of classical kinematics (angular velocity vector and helicoidal velocity field), they offer a clear and simple physical meaning, which may be useful to the designer of parallel manipulators. Moreover, both dexterity indices do not require obtaining a dimensionally homogeneous Jacobian matrix, nor do they depend on having similar types of actuators in each manipulator's leg. Detailed numerical examples are given in order to illustrate the computation of the dexterity indices.
In this work a new nonoverconstrained redundant decoupled robot, free of compound joints, formed from three parallel manipulators, with two moving platforms and provided with six active limbs connected to the fixed platform, called LinceJJP, is presented. Interesting applications such as multi-axis machine tools with parallel kinematic architectures, solar panels, radar antennas, and telescopes are available for this novel spatial mechanism.
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