Inverse jerk analysis of symmetric zero-torsion parallel manipulators |
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Authors: | Jaime Gallardo-Alvarado ,Karla A. Camarillo-Gó mez[Author vitae] |
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Affiliation: | aDepartment of Mechanical Engineering, Instituto Tecnológico de Celaya, Av. Tecnológico y García Cubas, 38010 Celaya, Gto., Mexico |
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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. |
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Keywords: | Parallel manipulator Zero torsion motion Parasitic motion Jerk Screw theory Kinematics |
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