Jerk influence coefficients, via screw theory, of closed chains

In this paper a novel method for determining the kinematic influence coefficients up to the jerk analysis of closed chains with multiple degrees of freedom by means of screw theory, also known as motor algebra, is introduced. A closed chain is obtained by rigidly attaching the end-effector of a serial chain to the base link. This condition ensures that the velocity, acceleration, and jerk, both angular and of any point fixed to the end-effector are zero. Afterwards, a comparison between the kinematic equations of motion, up to the jerk analysis, obtained by traditional methods with those obtained by means of screw theory reveals the corresponding influence coefficients associated to the generalized coordinates employed to represent the motion of the closed chain. Finally, a numerical example is provided.