Unified infinitesimal kinematics of a 3-RRR/PRR six-degree-of-freedom parallel-serial manipulator

DOI10.1007/S11012-023-01648-3MaRDI QIDQ6169764zbMATH OpenFDO

Authors Jaime Gallardo-Alvarado

Publication date 15 August 2023

Published in Meccanica (Search for Journal in Brave)

zbMATH Keywords

accelerationvelocityinverse kinematicsforward kinematicsscrew theoryKlein formhybrid manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cites work

• scientific article; zbMATH DE number 1263399 (Why is no real title available?)
• scientific article; zbMATH DE number 3050131 (Why is no real title available?)
• A geometrical method for computing the constant-orientation workspace of 6-PRRS parallel manipulators
• Applications of an improved Dixon elimination method for the inverse kinematics of 6R manipulators
• Kinematic analysis of a serial-parallel machine tool: the VERNE machine
• Mapping similarity between parallel and serial architecture kinematics
• Screw theory based singularity analysis of lower-mobility parallel robots considering the motion/force transmissibility and constrainability

Cited in

(3)

• Simplified inverse dynamic models of parallel robots based on a Lagrangian approach
• New performance indices for 6-dof UPS and 3-dof RPR parallel manipulators
• A fast forward kinematics algorithm based on planar quaternion solution for a class of 3-DoF planar parallel mechanisms

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