@inproceedings{ebfdcec1389c43019cf82d0beefa696b,
title = "Use of Serial Planar Linkages for an Augmented R-CUBE Mechanism with Six Degrees of Freedom",
abstract = "The present study shows the augmentation of the three Degrees of Freedom (DoF) translational R-CUBE into a six-DoF mechanism. To increase its number of DoF, each leg has their distal linkage modified to fully exploit the planar kinematics they rely on and one more active joint is added. In total, three angular DoF are added to the mechanism. Since they are several possible serial linkages for planar motion, several types of augmented R-CUBE can be assembled. A general form of the uniformized velocity model is given for this new mechanism. For each type of distal linkage, the inverse kinematic model is derived and differential kinematics is then used to complete the expression of the velocity model.",
keywords = "Kinematics analysis, Parallel mechanism, R-CUBE, Translational mechanism",
author = "Terence Essomba and Wu, {Yu Wen} and Laribi, {Med Amine}",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 6th IFToMM International Conference on Mechanisms, Transmissions, and Applications, MeTrApp 2023 ; Conference date: 24-05-2023 Through 26-05-2023",
year = "2023",
doi = "10.1007/978-3-031-29815-8_29",
language = "???core.languages.en_GB???",
isbn = "9783031298141",
series = "Mechanisms and Machine Science",
publisher = "Springer Science and Business Media B.V.",
pages = "297--305",
editor = "Laribi, {Med Amine} and Nelson, {Carl A.} and Marco Ceccarelli and Sa{\"i}d Zeghloul",
booktitle = "New Advances in Mechanisms, Transmissions and Applications - Proceedings of the 6th MeTrApp Conference, 2023",
}