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Preprint Article Version 1 This version is not peer-reviewed

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

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. Preprints 2018, 2018060111 (doi: 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 (doi: 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

Subject Areas

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

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.

Download PDF

Comments (0)

Your full name

Your affiliation information (e.g., name of your university/institution/organization)

Not displayed online.

Your Email address (not made public)

Please leave your comment to this article below.

Mathematical equations can be typed in either LaTeX formats \\[ ... \\] or $$ ... $$, or MathML format <math> ... </math>. Try the LaTeX or MathML example.

Type equation:

Preview:

Copy equation into message below

Close menu

Please click a symbol to insert it into the message box below:

Please enter the link here:

Optionally, you can enter text that should appear as linked text:

Copy link into message below

Close menu

Please enter or paste the URL to the image here (please only use links to jpg/jpeg, png and gif images):

Copy image into message below

Close menu

Type author name or keywords to filter the list of references in this group (you can add a new citation under Bibliography):

No existing citations in Discussion Group

Wikify editor is a simple editor for wiki-style mark-up. It was written by MDPI for Sciforum in 2014. The rendering of the mark-up is based on Wiky.php with some tweaks. Rendering of mathematical equations is done with MathJax. Please send us a message for support or for reporting bugs.

Close menu

Please declare any conflicts of interest you may have with this paper, financial or otherwise.

I do not have a conflict of interest

I would like to declare a conflict of interest

Display my name on the website I want to get recognition for my comment on Publons

[what’s this?]. Link your accounts here

Captcha

Renew

I accept the following conditions:

Comments must follow the standards of professional discourse and should focus on the scientific content of the article. Insulting or offensive language, personal attacks and off-topic remarks will not be permitted. Comments must be written in English. Preprints reserves the right to remove comments without notice. Readers who post comments are obliged to declare any competing interests, financial or otherwise.

We encourage comments and feedback from a broad range of readers. See criteria for comments and our diversity statement.

Leave a public comment
Send a private comment to the author(s)

Get PDF Cite Share

Bookmark BibSonomy Mendeley Reddit Delicious Publons

Alerts

Notify me about updates to this article or when a peer-reviewed version is published.