Version 1
: Received: 6 June 2018 / Approved: 7 June 2018 / Online: 7 June 2018 (10:54:07 CEST)
How to cite:
Gallardo-Alvarado, J.; Rodriguez-Castro, R.; Perez-Gonzalez, L.; Aguilar-Najera, C.R.; Sanchez-Rodriguez, A. A Five-Bar Planar Parallel Manipulator with Two End-Effectors. Preprints2018, 2018060111. https://doi.org/10.20944/preprints201806.0111.v1
Gallardo-Alvarado, J.; Rodriguez-Castro, R.; Perez-Gonzalez, L.; Aguilar-Najera, C.R.; Sanchez-Rodriguez, A. A Five-Bar Planar Parallel Manipulator with Two End-Effectors. Preprints 2018, 2018060111. https://doi.org/10.20944/preprints201806.0111.v1
Gallardo-Alvarado, J.; Rodriguez-Castro, R.; Perez-Gonzalez, L.; Aguilar-Najera, C.R.; Sanchez-Rodriguez, A. A Five-Bar Planar Parallel Manipulator with Two End-Effectors. Preprints2018, 2018060111. https://doi.org/10.20944/preprints201806.0111.v1
APA Style
Gallardo-Alvarado, J., Rodriguez-Castro, R., Perez-Gonzalez, L., Aguilar-Najera, C.R., & Sanchez-Rodriguez, A. (2018). A Five-Bar Planar Parallel Manipulator with Two End-Effectors. Preprints. https://doi.org/10.20944/preprints201806.0111.v1
Chicago/Turabian Style
Gallardo-Alvarado, J., Carlos R. Aguilar-Najera and Alvaro Sanchez-Rodriguez. 2018 "A Five-Bar Planar Parallel Manipulator with Two End-Effectors" Preprints. https://doi.org/10.20944/preprints201806.0111.v1
Abstract
Parallel manipulators with multiple end-effectors bring us interesting advantages over conventional parallel manipulators such as improved manipulability, workspace and avoidance of singularities. In this work the kinematics of a five-bar planar parallel manipulator equipped with two end-effectors is approached by means of the theory of screws. As an intermediate step the displacement analysis of the robot is also investigated. The input-output equations of velocity and acceleration are systematically obtained by resorting to reciprocal-screw theory. In that regard the Klein form of the Lie algebra se(3) of the Euclidean group SE(3) plays a central role. In order to exemplify the method of kinematic analysis, a case study is included. Furthermore, the numerical results obtained by means of the theory of screws are confirmed with the aid of special software like ADAMS.TM
Keywords
parallel manipulator; multiple end-effectors; Klein form; screw theory; kinematics
Subject
Engineering, Mechanical Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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