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 language | English |
---|---|
Pages (from-to) | 381-388 |
Number of pages | 8 |
Journal | Robotica |
Volume | 31 |
Issue number | 3 |
DOIs | |
State | Published - May 2013 |
Externally published | Yes |
Keywords
- Gough/Stewart platform
- Novel applications of robotics
- Parallel manipulators
- Screw theory
- Semiclosed form solution
- Space kinematics