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Acceleration Analysis of 3-RPS Parallel Manipulators by Means of Screw Theory InTech
J. Gallardo; H. Orozco; J.M. Rico; C.R. Aguilar; L. Perez.
In this work the kinematics, including the acceleration analysis, of 3-RPS parallel manipulators has been successfully approached by means of screw theory. Firstly, the forward position analysis was carried out using recursively the Sylvester dialytic elimination method, such a procedure yields a 16-th polynomial expression in one unknown, and therefore all the possible solutions of this initial analysis are systematically calculated. Afterwards, the velocity and acceleration analyses are addressed using screw theory. To this end, the velocity and reduced acceleration states of the moving platform, with respect to the fixed platform are written in screw form through each one of the three limbs of the manipulator. Simple and compact expressions were derived...
Tipo: 16 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/acceleration_analysis_of_3-rps_parallel_manipulators_by_means_of_screw_theory
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