The motions of mechanisms can be described in terms of screw coordinates by means of an
exponential mapping. The product of exponentials (POE) describes the configuration of a …

A thorough analysis of mechanisms requires higher derivatives of the kinematic relations
between its members. Such a relation is the (forward) kinematic mapping of a kinematic …

In this work the kinematic and dynamic analyses of a robot manipulator whose topology
consists of parallel kinematic structures with linear actuators are approached by means of …

In this work the kinematics of a three-legged parallel manipulator with asymmetrical limbs
and decoupled motions over its moving platform is investigated by means of the theory of …

This paper addresses the description and kinematic analyses of a new non-redundant
series-parallel manipulator. The primary feature of the robot is to have a decoupled topology …

In this work the jerk analysis of a 3-RRPS parallel manipulator to realize six degrees of
freedom is approached by means of the theory of screws. The input/output equations of …

This work is devoted to simplify the inverse–forward kinematics of a parallel manipulator
generator of the 3T1R motion. The closure equations of the displacement analysis are …

The local analysis is an established approach to the study of singularities and mobility of
linkages. The key result of such analyses is a local picture of the finite motion through a …

This work deals with the inverse–forward kinematic analysis of a symmetric parallel
manipulator equipped with a rotary actuator generator of three independent translations and …

This paper introduces a novel 6-DOF parallel manipulator, which is composed of two 3-RUS
parallel manipulators that share a common three-dimensional moving platform. Semi …