Análisis cinemático directo de un manipulador paralelo esférico asimétrico

Abstract

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.