Resumo

GALLARDO-ALVARADO, J; RICO-MARTINEZ, J.M.  e  CAUDILLO-RAMIREZ, M. Análisis cinemático directo de un manipulador paralelo esférico asimétrico. Ing. invest. y tecnol. [online]. 2006, vol.7, n.4, pp.205-215. ISSN 2594-0732.

This work is devoted to the forward kinematics of a three-degree-of -freedom parallel manipulator whose moving platform can undergo only spherical motions. The forward position analysis, a challenging task for most parallel manipulators, is presented in closed-form solution. Afterwards, the forward velocity analysis is approached by means of the theory of screws being of special utility the Klein form of the Lie algebra e(3). Finally, a geometric interpretation of the so-called local singularities of the proposed parallel manipulator is provided.

Palavras-chave : Spherical motion; parallel manipulator; screw theory; singularity; kinematics.

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