Kinematic and Workspace Analysis of Spherical 3RRR Coaxial Parallel Robot Based on Screw Theory

A kinematic and workspace analysis of Spherical 3-RRR Coaxial Parallel Robot are developed in this paper. Position and orientation was determined through the inverse and forward kinematics using geometric and numerical method, respectively. Velocity state and screw-coordinate Jacobian matrix was dev...

Full description

Autores:
Marrugo, D.
Vitola, A.
Villa Ramírez, José Luis
Rodelo, M.
Tipo de recurso:
Fecha de publicación:
2020
Institución:
Universidad Tecnológica de Bolívar
Repositorio:
Repositorio Institucional UTB
Idioma:
eng
OAI Identifier:
oai:repositorio.utb.edu.co:20.500.12585/9991
Acceso en línea:
https://hdl.handle.net/20.500.12585/9991
https://ieeexplore.ieee.org/document/9290317
Palabra clave:
Kinematics
Parallel Robots
Workspace
Screw Theory
Trajectory
Rights
closedAccess
License
http://purl.org/coar/access_right/c_14cb