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3-URU ((DYMO))

3-URU ((DYMO))

grabcad

The 3-URU Double Y Multi-Operational (DYMO) Parallel Mechanism consists of three legs with two universal joints and a revolute joint in each leg. This manipulator is fascinating in its behavior, allowing different systems of platform motions in different configurations that result in distinct modes of operation. In total, there are 5 different modes of operation and these modes are separated by constraint singularities.The project was the thesis of one of my friends which were in the construction phase and have succeeded in Control of its end​-effector.I wish Mr,Ebrahimi to success in all stages of his life.

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