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These indices are then                    used to analyze the workspace of a type of hyper-redundant robotic arm using as                    modules lower mobility parallel platforms. The modules of the reconfigurable                    robotic arm are the three-legged translational universal-prismatic-universal                    (UPU) and orientational universal-prismatic-spherical (UPS) parallel platforms.                    Each arm is composed of a large number of these modules having a very large                    number of degrees of freedom. Results of the workspace analysis are presented in                    tabular and graphical forms and the corresponding best designs are identified.                    All possible arm assembly configurations with two, three, and four parallel                    platform modules and one configuration with five parallel platform modules have                    been taken into consideration, analyzed, and compared.<\/jats:italic>\n                  <\/jats:p>","DOI":"10.1177\/0278364904044406","type":"journal-article","created":{"date-parts":[[2004,5,29]],"date-time":"2004-05-29T03:24:04Z","timestamp":1085801044000},"page":"643-659","source":"Crossref","is-referenced-by-count":31,"title":["New Performance Indices and Workspace Analysis of Reconfigurable                Hyper-Redundant Robotic Arms"],"prefix":"10.1177","volume":"23","author":[{"given":"Mircea","family":"Badescu","sequence":"first","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology Pasadena,                        CA 91109-8099, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Constantinos","family":"Mavroidis","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Laboratory, Department of Mechanical,                        Industrial and Manufacturing Engineering, Northeastern University, Boston,                        MA 02115, USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2004,6]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"crossref","unstructured":"Abdel-Malek K. 1995. 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