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An Application of Screw Theory to the Jerk Analysis of a Two-Degrees-of-Freedom Parallel Wrist

Department of Mechanical Engineering, Instituto Tecnológico de Celaya, TNM, Av. Tecnológico y A. García Cubas, 38010 Celaya, GTO, México
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Academic Editor: Huosheng Hu
Robotics 2015, 4(1), 50-62; https://doi.org/10.3390/robotics4010050
Received: 11 December 2014 / Revised: 26 February 2015 / Accepted: 28 February 2015 / Published: 10 March 2015
In this work the velocity, acceleration, and jerk analyses of a two-degrees-of-freedom parallel wrist are approached by means of the theory of screws. For the sake of completeness, the finite kinematics of the manipulator is also investigated. As far as the authors are aware, the equation of jerk in screw form of the robot at hand is introduced by the first time in this contribution. In order to exemplify the method, a case study is included. The numerical example is verified with the aid of commercially available software. View Full-Text
Keywords: parallel machine; robotics; kinematics; screw theory parallel machine; robotics; kinematics; screw theory
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Gallardo-Alvarado, J.; Rodríguez-Castro, R.; Caudillo-Ramírez, M.; Pérez-González, L. An Application of Screw Theory to the Jerk Analysis of a Two-Degrees-of-Freedom Parallel Wrist. Robotics 2015, 4, 50-62.

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