An Application of Screw Theory to the Jerk Analysis of a Two-Degrees-of-Freedom Parallel Wrist

Robotics

Jaime Gallardo-Alvarado¹  Ramón Rodríguez-Castro²  Martín Caudillo-Ramírez²  Luciano Pérez-González² 

[1] Department of Mechanical Engineering, Instituto Tecnológico de Celaya, TNM, Av. Tecnológico y A. García Cubas, 38010 Celaya, GTO, México;

关键词: parallel machine;    robotics;    kinematics;    screw theory;   

DOI  :  10.3390/robotics4010050

来源: mdpi

【 摘 要 】

In this work the velocity, acceleration, and jerk analyses of a two-degrees-of-freedom parallel wrist are approached by means of the theory of screws. For the sake of completeness, the finite kinematics of the manipulator is also investigated. As far as the authors are aware, the equation of jerk in screw form of the robot at hand is introduced by the first time in this contribution. In order to exemplify the method, a case study is included. The numerical example is verified with the aid of commercially available software.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.