Kinematics of a Planar Parallel Robot via Screw Theory: Details not Mentioned

Abstract

In this work, the kinematic analysis of a parallel robot via screw theory is obtained step by step, with the aim to show details that no-one mentions since only a select group of researchers has the know-how of this mathematical tool. A 3-RRR parallel robot for obtaining the input-output equations of velocity and acceleration in screw form is used. A brief explanation of concepts used by applying screw theory in the kinematic analysis of parallel robots is provided. The Klein form, which is an important method for addressing the passive joints of the parallel manipulators, is applied to the velocity and acceleration equations of the robot. A numerical example in order to verify the kinematics formulation of the parallel manipulator based on screw theory is provided. With the details mentioned in this paper, to understand and apply this mathematical tool could be easier and simply than learning it by it-self.