Forward Kinematics and Singularity Analyses of an Uncoupled Parallel Manipulator by Algebraic Screw Theory

In this contribution, the Jacobian analysis of a four-legged six-degrees-of-freedom decoupled parallel manipulator is carried out through the screw theory. As an intermediate step, for the sake of completeness the inverse/forward displacement analysis as well as the computation of the workspace of t...

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Bibliographic Details

Published in:	IEEE Access
Main Authors:	Jaime Gallardo-Alvarado, Mario A. Garcia-Murillo, Luis A. Alcaraz-Caracheo, Felipe J. Torres, X. Yamile Sandoval-Castro
Format:	Article
Language:	English
Published:	IEEE 2022-01-01
Subjects:	Kinematics parallel robot screw theory singular posture uncoupled kinematics
Online Access:	https://ieeexplore.ieee.org/document/9666862/