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

DOI10.1007/s11012-023-01648-3zbMath1527.70003MaRDI QIDQ6169764

Jaime Gallardo-Alvarado

Publication date: 15 August 2023

Published in: Meccanica (Search for Journal in Brave)

zbMATH Keywords

velocityaccelerationinverse kinematicsscrew theoryforward kinematicsKlein formhybrid manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Related Items (1)

A fast forward kinematics algorithm based on planar quaternion solution for a class of 3-DoF planar parallel mechanisms

Cites Work

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• Kinematic analysis of a serial-parallel machine tool: the VERNE machine
• A geometrical method for computing the constant-orientation workspace of 6-PRRS parallel manipulators
• Screw theory based singularity analysis of lower-mobility parallel robots considering the motion/force transmissibility and constrainability
• Applications of an improved Dixon elimination method for the inverse kinematics of 6R manipulators
• Mapping similarity between parallel and serial architecture kinematics

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