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

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

Producción científica: Contribución a una revistaArtículorevisión exhaustiva

9 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Páginas (desde-hasta)381-388
Número de páginas8
PublicaciónRobotica
Volumen31
N.º3
DOI
EstadoPublicada - may. 2013
Publicado de forma externa

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