Abstract
This work deals with the forward and inverse kinematic analysis of a coaxial spherical parallel manipulator (SPM) by using the Euler angles representation for the mobile’s platform orientation. A unique solution for the inverse and forward kinematic problem which corresponds with the assembly mode of a physical prototype is considered. The screw theory is then used to derive the Jacobian matrix as well as to carry out the velocity analysis. Finally, the solutions from both analysis are compared with numerical results obtained by simulation using ADAMS View software for different position and velocity trajectories, showing the validity of the obtained results.
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Cruz-Reyes, A.T., Arias-Montiel, M., Tapia-Herrera, R. (2021). Kinematic Analysis of a Coaxial 3-RRR Spherical Parallel Manipulator Based on Screw Theory. In: Zeghloul, S., Laribi, M.A., Arsicault, M. (eds) Mechanism Design for Robotics. MEDER 2021. Mechanisms and Machine Science, vol 103. Springer, Cham. https://doi.org/10.1007/978-3-030-75271-2_4
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DOI: https://doi.org/10.1007/978-3-030-75271-2_4
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