Kinematics of the 3(RPSP)-S Fully Spherical Parallel Manipulator by Means of Screw Theory

被引：4

作者：

Gallardo-Alvarado, Jaime ^{[1
]}

Rodriguez-Castro, Ramon ^{[1
]}

Perez-Gonzalez, Luciano ^{[1
]}

Aguilar-Najera, Carlos R. ^{[1
]}

机构：

[1] Inst Tecnol Celaya, TecNM, Dept Mech Engn, Av Tecnol & A Garcia Cubas, Celaya 38010, Mexico

来源：

ROBOTICS | 2018年 / 7卷 / 02期

关键词：

parallel manipulator; spherical motion; Klein form; screw theory; kinematics;

D O I：

10.3390/robotics7020029

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this work, the kinematics of a spherical parallel manipulator composed of three peripheral limbs equipped with linear actuators and a passive center shaft is approached by means of the theory of screws. The displacement analysis is carried out solving closure equations, which are obtained upon simple linear combinations of the components of two unit vectors describing the orientation of the moving platform. After, the input-output equations of velocity and acceleration of the spherical parallel manipulator are systematically obtained by resorting to reciprocal-screw theory. This strategy avoids the computation of the passive joint velocity and acceleration rates of the robot manipulator. Numerical examples illustrate the efficiency of the proposed method.

引用

页数：12

共 40 条

[1] Topology optimisation and singularity analysis of a 3-SPS parallel manipulator with a passive constraining spherical joint [J].