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

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...

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Bibliographic Details
Published in:Robotics (Basel) 2015-03, Vol.4 (1), p.50-62
Main Authors: Gallardo-Alvarado, Jaime, Rodríguez-Castro, Ramón, Caudillo-Ramírez, Martín, Pérez-González, Luciano
Format: Article
Language:English
Subjects:
Computer programs
Kinematics
Mathematical analysis
Mathematical models
parallel machine
robotics
Robots
screw theory
Screws
Software
Wrist
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Summary: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.
ISSN:2218-6581
2218-6581
DOI:10.3390/robotics4010050