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...
- 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