An Application of Screw Theory to the Jerk Analysis of a Two-Degrees-of-Freedom Parallel WristReportar como inadecuado




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Department of Mechanical Engineering, Instituto Tecnológico de Celaya, TNM, Av. Tecnológico y A. García Cubas, 38010 Celaya, GTO, México





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Academic Editor: Huosheng Hu

Abstract In this work the velocity, acceleration, and jerk analyses of a two-degrees-of-freedom parallel wrist are approached by means of the theory of screws. For the sake of completeness, the finite kinematics of the manipulator is also investigated. As far as the authors are aware, the equation of jerk in screw form of the robot at hand is introduced by the first time in this contribution. In order to exemplify the method, a case study is included. The numerical example is verified with the aid of commercially available software. View Full-Text

Keywords: parallel machine; robotics; kinematics; screw theory parallel machine; robotics; kinematics; screw theory





Autor: Jaime Gallardo-Alvarado * , Ramón Rodríguez-Castro, Martín Caudillo-Ramírez and Luciano Pérez-González

Fuente: http://mdpi.com/



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