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Esquema del manipulador paralelo 6-RKS

Abstract

The 6-RKS (or 6-RUS) parallel manipulator is a spatial mechanism consisting of two platforms, one fixed and the other mobile, with 6 degrees of freedom, joined by 6 kinematic chains of type RKS, where R stands for a revolute joints, K for a cardan joint and S for a spherical joint.

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