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

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Abstract

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.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Instituto Tecnológico de Celaya, 38010, Celaya, Gto., Mexico

    Jaime Gallardo & Horacio Orozco

  2. FIMEE, Universidad de Guanajuato, 36730, Salamanca, Gto., Mexico

    José M. Rico

Authors
  1. Jaime Gallardo
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  2. Horacio Orozco
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  3. José M. Rico
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Correspondence to Jaime Gallardo.

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Gallardo, J., Orozco, H. & Rico, J.M. Kinematics of 3-RPS parallel manipulators by means of screw theory. Int J Adv Manuf Technol 36, 598–605 (2008). https://doi.org/10.1007/s00170-006-0851-5

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  • DOI: https://doi.org/10.1007/s00170-006-0851-5

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