Kinematics of 3-RPS parallel manipulators by means of screw theory



In this work the forward position analysis of parallel manipulators with identical limbs, type revolute-prismatic-spherical (RPS), is carried out applying recursively the Sylvester dialytic elimination method. Afterwards, the velocity and acceleration analyses of the mechanisms at hand are addressed using the theory of screws. A numerical example is provided to prove the efficacy of the chosen methodology for the kinematic analyses of the mechanisms under study.


Parallel manipulator Analytical form solution Klein form Screw theory Forward kinematics 


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Copyright information

© Springer-Verlag London Limited 2007

Authors and Affiliations

  • Jaime Gallardo
    • 1
  • Horacio Orozco
    • 1
  • José M. Rico
    • 2
  1. 1.Department of Mechanical EngineeringInstituto Tecnológico de CelayaCelaya, Gto.Mexico
  2. 2.FIMEEUniversidad de GuanajuatoSalamanca, Gto.Mexico

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