Kinematics of 3-RPS parallel manipulators by means of screw theory

被引：42

作者：

Gallardo, Jaime ^{[1
]}

Orozco, Horacio ^{[1
]}

Rico, Jose M. ^{[2
]}

机构：

[1] Inst Tecnol Celaya, Dept Mech Engn, Celaya 38010, Gto, Mexico

[2] Univ Guanajuato, FIMEE, Salamanca 36730, Gto, Mexico

来源：

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY | 2008年 / 36卷 / 5-6期

关键词：

parallel manipulator; analytical form solution; Klein form; screw theory; forward kinematics;

D O I：

10.1007/s00170-006-0851-5

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this work the forward position analysis of parallel manipulators with identical limbs, type revolute-prismatic-spherical (RPS), is carried out applying recursively the Sylvester dialytic elimination method. Afterwards, the velocity and acceleration analyses of the mechanisms at hand are addressed using the theory of screws. A numerical example is provided to prove the efficacy of the chosen methodology for the kinematic analyses of the mechanisms under study.

引用

页码：598 / 605

页数：8

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