A Five-Bar Planar Parallel Manipulator with Two End-Effectors

Jaime Gallardo-Alvarado; Ramon Rodriguez-Castro; Luciano Perez-Gonzalez; Carlos R. Aguilar-Najera; Alvaro Sanchez-Rodriguez

doi:10.20944/preprints201806.0111.v1

Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Version 1 : Received: 6 June 2018 / Approved: 7 June 2018 / Online: 7 June 2018 (10:54:07 CEST)

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

parallel manipulator; multiple end-effectors; Klein form; screw theory; kinematics

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A Five-Bar Planar Parallel Manipulator with Two End-Effectors

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