Instantaneous Kinematics Analysis via Screw-Theory of a Novel 3-CRC Parallel Mechanism | Zendy

Hussein de la Torre | Zendy; Ernesto Rodriguez-Leal | Zendy

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Instantaneous Kinematics Analysis via Screw-Theory of a Novel 3-CRC Parallel Mechanism

Author(s) -

Hussein de la Torre,

Ernesto Rodriguez-Leal

Publication year - 2016

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/63748

Subject(s) - screw theory , kinematics , jacobian matrix and determinant , inverse kinematics , computer science , mechanism (biology) , translation (biology) , forward kinematics , skew , base (topology) , inverse , matrix (chemical analysis) , control theory (sociology) , topology (electrical circuits) , geometry , mathematics , mathematical analysis , artificial intelligence , physics , classical mechanics , materials science , chemistry , composite material , telecommunications , biochemistry , control (management) , quantum mechanics , messenger rna , gene , combinatorics

This paper presents the mobility and kinematics analysis of a novel parallel mechanism that is composed by one base, one platform and three identical limbs with CRC joints. The paper obtains closed-form solutions to the direct and inverse kinematics problems, and determines the mobility of the mechanism and instantaneous kinematics by applying screw theory. The obtained results show that this parallel robot is part of the family 2R1T, since the platform shows 3 DOF, i.e.: one translation perpendicular to the base and two rotations about skew axes. In order to calculate the direct instantaneous kinematics, this paper introduces the vector mh, which is part of the joint velocity vector that multiplies the overall inverse Jacobian matrix. This paper compares the results between simulations and numerical examples using Mathematica and SolidWorks in order to prove the accuracy of the analytical results

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