RESEARCH PAPERS: Robotics Papers

A Direct Determination of the Instantaneous Kinematics of Fully Parallel Robot Manipulators

[+] Author and Article Information
M. G. Mohamed

El-Minia University, Egypt

J. Duffy

Center for Intelligent Machines and Robotics, University of Florida, Gainesville, FL

J. Mech., Trans., and Automation 107(2), 226-229 (Jun 01, 1985) (4 pages) doi:10.1115/1.3258713 History: Received July 10, 1984; Online November 19, 2009


Screw theory is applied to the study of the instantaneous kinematics of the end-effector platform of fully parallel robot type devices. The instantaneous motion of the end-effector is expressed directly in terms of the twists of the input-actuated joints and it is demonstrated that the twist representing the instantaneous motion of the end-effector platform is equal to the sum of its partial twists. A partial twist is defined as the twist representing the instantaneous motion of the end-effector when all but one of the input actuators are locked. The analysis presented forms a proper basis for the study of special configurations of parallel type devices.

Copyright © 1985 by ASME
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