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Kinematics of a nine-legged in-parallel manipulator with configurable platform

Published online by Cambridge University Press:  21 July 2022

Jaime Gallardo-Alvarado Open the ORCID record for Jaime Gallardo-Alvarado [Opens in a new window] ,
Mario A. Garcia-Murillo Open the ORCID record for Mario A. Garcia-Murillo [Opens in a new window]  and
Ramon Rodriguez-Castro
Jaime Gallardo-Alvarado*
Affiliation:
Mechanical Engineering Department, National Technological Institute of Mexico/Celaya Campus, Celaya, Mexico
Mario A. Garcia-Murillo
Affiliation:
Mechanical Engineering Department, DICIS, University of Guanajuato, Guanajuato, Mexico
Ramon Rodriguez-Castro
Affiliation:
Mechanical Engineering Department, National Technological Institute of Mexico/Celaya Campus, Celaya, Mexico
*
*Corresponding author. E-mail: jaime.gallardo@itcelaya.edu.mx
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Abstract

Configurable platforms bring a research field to expand the attributes of parallel manipulators. This work is devoted to investigate the kinematics of a nine-degrees-of-freedom parallel manipulator whose active kinematic pairs are located near to the fixed platform, and it is equipped with a 6-R configurable platform. The mobility of the proposed 9-UPUR{6R} configurable parallel manipulator is such that it is possible to manipulate the kinematics of a grasping triangle associated to the configurable platform. The theory of screws is systematically applied to solve the direct and inverse infinitesimal kinematics of the manipulator. As an intermediate step, the displacement analysis is approached by means of algebraic geometry. The contribution is complemented with numerical examples to illustrate the versatility of the method of kinematic analysis.

Keywords

parallel manipulatorconfigurable platformkinematicsscrew theory
Type
Research Article
Information
Robotica , Volume 40 , Issue 12 , December 2022 , pp. 4455 - 4474
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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