Simplified Kinematics for a Parallel Manipulator Generator of the Schönflies Motion

What is it about?

This contribution exemplifies how easy is to formulate the closure equations associated to the forward displacement analysis of a Schoenflies parallel manipulator when the coordinates of three points of its moving platform are employed. Later, the input-output equations of velocity and acceleration are formulated by resorting to reciprocal screw theory. To this aim, the Klein form plays a central role.

Featured Image

Why is it important?

1) A simple method to solve the forward displacement analysis of a 3T1R parallel manipulator is provided 2)Screw theory is applied for solving the acceleration analysis of the parallel manipulator at hand.

Perspectives