A 2(3-RRPS) parallel manipulator inspired by Gough-Stewart platform

Jaime Gallardo-Alvarado, Mario A. García-Murillo, Eduardo Castillo-Castaneda

Research output: Contribution to journalArticlepeer-review

9 Scopus citations

Abstract

SUMMARY This study addresses the kinematics of a six-degrees-of-freedom parallel manipulator whose moving platform is a regular triangular prism. The moving and fixed platforms are connected to each other by means of two identical parallel manipulators. Simple forward kinematics and reduced singular regions are the main benefits offered by the proposed parallel manipulator. The Input-Output equations of velocity and acceleration are systematically obtained by resorting to reciprocal-screw theory. A case study, which is verified with the aid of commercially available software, is included with the purpose to exemplify the application of the method of kinematic analysis.

Original languageEnglish
Pages (from-to)381-388
Number of pages8
JournalRobotica
Volume31
Issue number3
DOIs
StatePublished - May 2013
Externally publishedYes

Keywords

  • Gough/Stewart platform
  • Novel applications of robotics
  • Parallel manipulators
  • Screw theory
  • Semiclosed form solution
  • Space kinematics

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