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

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

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...

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Veröffentlicht in:Robotica 2013-05, Vol.31 (3), p.381-388
Hauptverfasser: Gallardo-Alvarado, Jaime, García-Murillo, Mario A., Castillo-Castaneda, Eduardo
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Sprache:eng
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Computer programs
Kinematics
Manipulators
Mathematical analysis
Platforms
Prisms
Robot arms
Software
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container_title Robotica
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creator Gallardo-Alvarado, Jaime
García-Murillo, Mario A.
Castillo-Castaneda, Eduardo
description 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.
doi_str_mv 10.1017/S0263574712000392
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source Cambridge University Press Journals Complete
subjects Computer programs
Kinematics
Manipulators
Mathematical analysis
Platforms
Prisms
Robot arms
Software
title A 2(3-RRPS) parallel manipulator inspired by Gough–Stewart platform
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