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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| Format: | Article |
| Language: | English |
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MDPI AG
2018-06-01
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| Series: | Robotics |
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| Online Access: | http://www.mdpi.com/2218-6581/7/2/29 |
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| author | Jaime Gallardo-Alvarado Ramon Rodriguez-Castro Luciano Perez-Gonzalez Carlos R. Aguilar-Najera |
| author_facet | Jaime Gallardo-Alvarado Ramon Rodriguez-Castro Luciano Perez-Gonzalez Carlos R. Aguilar-Najera |
| author_sort | Jaime Gallardo-Alvarado |
| collection | DOAJ |
| description | 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 simple linear combinations of the components of two unit vectors describing the orientation of the moving platform. After, the input-output equations of velocity and acceleration of the spherical parallel manipulator are systematically obtained by resorting to reciprocal-screw theory. This strategy avoids the computation of the passive joint velocity and acceleration rates of the robot manipulator. Numerical examples illustrate the efficiency of the proposed method. |
| first_indexed | 2024-04-11T22:02:49Z |
| format | Article |
| id | doaj.art-01e2839c48074b419a0d515a9d5a68ff |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-04-11T22:02:49Z |
| publishDate | 2018-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-01e2839c48074b419a0d515a9d5a68ff2022-12-22T04:00:49ZengMDPI AGRobotics2218-65812018-06-01722910.3390/robotics7020029robotics7020029Kinematics of the 3(RPSP)-S Fully Spherical Parallel Manipulator by Means of Screw TheoryJaime Gallardo-Alvarado0Ramon Rodriguez-Castro1Luciano Perez-Gonzalez2Carlos R. Aguilar-Najera3Department of Mechanical Engineering, Instituto Tecnologico de Celaya, TecNM, Av. Tecnologico y A Garcia Cubas, Celaya 38010, MexicoDepartment of Mechanical Engineering, Instituto Tecnologico de Celaya, TecNM, Av. Tecnologico y A Garcia Cubas, Celaya 38010, MexicoDepartment of Mechanical Engineering, Instituto Tecnologico de Celaya, TecNM, Av. Tecnologico y A Garcia Cubas, Celaya 38010, MexicoDepartment of Mechanical Engineering, Instituto Tecnologico de Celaya, TecNM, Av. Tecnologico y A Garcia Cubas, Celaya 38010, MexicoIn 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 simple linear combinations of the components of two unit vectors describing the orientation of the moving platform. After, the input-output equations of velocity and acceleration of the spherical parallel manipulator are systematically obtained by resorting to reciprocal-screw theory. This strategy avoids the computation of the passive joint velocity and acceleration rates of the robot manipulator. Numerical examples illustrate the efficiency of the proposed method.http://www.mdpi.com/2218-6581/7/2/29parallel manipulatorspherical motionKlein formscrew theorykinematics |
| spellingShingle | Jaime Gallardo-Alvarado Ramon Rodriguez-Castro Luciano Perez-Gonzalez Carlos R. Aguilar-Najera Kinematics of the 3(RPSP)-S Fully Spherical Parallel Manipulator by Means of Screw Theory Robotics parallel manipulator spherical motion Klein form screw theory kinematics |
| title | Kinematics of the 3(RPSP)-S Fully Spherical Parallel Manipulator by Means of Screw Theory |
| title_full | Kinematics of the 3(RPSP)-S Fully Spherical Parallel Manipulator by Means of Screw Theory |
| title_fullStr | Kinematics of the 3(RPSP)-S Fully Spherical Parallel Manipulator by Means of Screw Theory |
| title_full_unstemmed | Kinematics of the 3(RPSP)-S Fully Spherical Parallel Manipulator by Means of Screw Theory |
| title_short | Kinematics of the 3(RPSP)-S Fully Spherical Parallel Manipulator by Means of Screw Theory |
| title_sort | kinematics of the 3 rpsp s fully spherical parallel manipulator by means of screw theory |
| topic | parallel manipulator spherical motion Klein form screw theory kinematics |
| url | http://www.mdpi.com/2218-6581/7/2/29 |
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