Kinematics of a Class of Three-Legged Parallel Manipulators by Means of Screw Theory

Resumen

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.