TY - JOUR
T1 - A 2(3-RRPS) parallel manipulator inspired by Gough-Stewart platform
AU - Gallardo-Alvarado, Jaime
AU - García-Murillo, Mario A.
AU - Castillo-Castaneda, Eduardo
PY - 2013/5
Y1 - 2013/5
N2 - 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.
AB - 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.
KW - Gough/Stewart platform
KW - Novel applications of robotics
KW - Parallel manipulators
KW - Screw theory
KW - Semiclosed form solution
KW - Space kinematics
UR - http://www.scopus.com/inward/record.url?scp=84875505423&partnerID=8YFLogxK
U2 - 10.1017/S0263574712000392
DO - 10.1017/S0263574712000392
M3 - Artículo
SN - 0263-5747
VL - 31
SP - 381
EP - 388
JO - Robotica
JF - Robotica
IS - 3
ER -