Kinematics of the 3(RPSP)-S Fully Spherical Parallel Manipulator by Means of Screw Theory

Kinematics of the 3(RPSP)-S Fully Spherical Parallel Manipulator by Means of Screw Theory

In this work, the kinematics of a spherical parallel manipulator composed of three peripheral limbs equipped with linear actuators and a passive center shaft is approached by means of the theory of screws. The displacement analysis is carried out solving closure equations, which are obtained upon si...

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Bibliographic Details
Main Authors: Jaime Gallardo-Alvarado, Ramon Rodriguez-Castro, Luciano Perez-Gonzalez, Carlos R. Aguilar-Najera
Format: Article
Language:English
Published: MDPI AG 2018-06-01
Series:Robotics
Subjects:
parallel manipulator
spherical motion
Klein form
screw theory
kinematics
Online Access:http://www.mdpi.com/2218-6581/7/2/29

Internet

http://www.mdpi.com/2218-6581/7/2/29

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