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gough/stewart platform

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1 results

A 2(3-RRPS) parallel manipulator inspired by Gough–Stewart platform
Jaime Gallardo-Alvarado, Mario A. García-Murillo, Eduardo Castillo-Castaneda
Journal:

Robotica / Volume 31 / Issue 3 / May 2013

Published online by Cambridge University Press:

26 July 2012, pp. 381-388
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This study addresses the kinematics of a six-degrees-of-freedom parallel manipulator whose moving platform is a regular triangular prism. The moving and fixed platforms are connected to each other by means of two identical parallel manipulators. Simple forward kinematics and reduced singular regions are the main benefits offered by the proposed parallel manipulator. The Input–Output equations of velocity and acceleration are systematically obtained by resorting to reciprocal-screw theory. A case study, which is verified with the aid of commercially available software, is included with the purpose to exemplify the application of the method of kinematic analysis.