Name
Abstract | ||
|---|---|---|
In this work the inverse velocity, acceleration and jerk analyses of a class of three-degrees-of-freedom parallel manipulators are approached by means of the theory of screws. The concept of reciprocal screws allows to obtain simple and decoupled expressions to compute the joint rates, up to the third time derivative, of the class of manipulators under study given the instantaneous kinematic properties of the center of the moving platform. The interdependency between the angular and linear kinematic properties of the moving platform is also derived. A case study is included. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1016/j.robot.2011.08.002 | Robotics and Autonomous Systems |
Keywords | Field | DocType |
Parallel manipulator,Zero torsion motion,Parasitic motion,Jerk,Screw theory,Kinematics | Parallel manipulator,Inverse,Kinematics,Torsion (mechanics),Computer science,Mathematical analysis,Simulation,Jerk,Time derivative,Acceleration,Screw theory | Journal |
Volume | Issue | ISSN |
59 | 11 | 0921-8890 |
Citations | PageRank | References |
0 | 0.34 | 5 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jaime Gallardo-Alvarado | 1 | 16 | 5.69 |
| Karla Anhel Camarillo-Gómez | 2 | 0 | 1.69 |