Resumen

GALLARDO-ALVARADO, Jaime. Kinematics of a Class of Three-Legged Parallel Manipulators by Means of Screw Theory. Ing. invest. y tecnol. [online]. 2016, vol.17, n.2, pp.191-200.  Epub 04-Abr-2022. ISSN 2594-0732.  https://doi.org/10.1016/j.riit.2016.06.004.

This work is devoted to the velocity and acceleration analyses of a class of three-legged parallel manipulators. The input-output equations of velocity and acceleration are systematically obtained by resorting to reciprocal-screw theory. With the purpose to exemplify the application of the method, a case study is included. The example consists of solving the kinematics of a 3-CRS (Cylindrical + Revolute + Spherical) parallel manipulator. Furthermore, the numerical results obtained via screw theory are verified with the aid of commercially available software.

Palabras llave : parallel manipulator; klein form; screw theory; kinematics.