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The jerk analysis is a topic of growing interest in quite different scientific commu-nities. In fact, the jerk can be a powerful mathematical tool to understand human motions, characterize singularities, compute impact forces, avoid the wearing of me-chanical components like cams, smooth path planning trajectories of rigid bodies in robot manipulat...
Contexts in source publication
Context 1
... does not re- quire of additional conditions of manufacture like intersection of screws or similar restrictions Some parallel manipulators meeting such characteristics are specified as 3-RRPS, 3- RRRS, 3-RPRS and 3-RPPS where R P S stand for revolute joint, prismatic joint and spherical joint. The 3-RRPS parallel manipulator is depicted in Fig. ...
Context 2
... manipulators and therefore it is chosen as the mathematical tool to approach the jerk analysis of the parallel manipulator under study. To this end, naturally, it is required to approach, in this order, the velocity and acceleration analyses. The notation of the screws, which will be written using Pl¨ckerPl¨cker coordinates, is depicted in Fig. ...
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Citations
... For an introduction to the screw theory applied to manipulators it is possible, as an example, to refer to [47,48,49,50]. The direct kinematics is always solvable (the velocity of the end-effector can be always evaluated from the velocity of the joints), while the inverse is univocally solvable (evaluation of joint velocity from the end-effector one) only if J is a full rank matrix. ...
The paper discusses the concepts of isotropy and decoupling in n-DoF (degrees of freedom) manipulators: isotropy means that its kinetostatic properties are identical in all directions, while decoupling means that each DoF of the end effector is controlled by a single actuator. The role of different Jacobian matrices in the isotropy, decoupling and in the general mobility analysis of the manipulators is revised. These concepts are applied to a Gough–Stewart platform showing that it may be isotropic, but not decoupled. A modification of its leg structure is suggested to develop some new 6-DoF PKMs (parallel kinematic machine) decoupled and isotropic in the considered configuration. An introduction to the mobility analysis of serial and parallel manipulators is also presented.
