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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2018-06-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | http://www.mdpi.com/2218-6581/7/2/29 |