Acceleration Analysis of 3-DOF Planar Parallel Manipulators by Means of Screw Theory

Soheil Zarkandi

doi:10.3329/jme.v45i2.28207

Acceleration Analysis of 3-DOF Planar Parallel Manipulators by Means of Screw Theory

Authors

Soheil Zarkandi Department of Mechanical Engineering, Babol Noshirvani University of Technology, Babol, Iran

DOI:

https://doi.org/10.3329/jme.v45i2.28207

Abstract

This paper deals with the second order kinematics of three degree-of-freedom (DOF) planar parallel manipulators. The simple and compact expressions are derived for both the inverse and forward acceleration analyses using screw theory. Moreover, as an example, a 3-DOF planar parallel manipulator is introduced and its kinematics is analyzed using the proposed method.

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Published

2016-07-28

How to Cite

Zarkandi, S. (2016). Acceleration Analysis of 3-DOF Planar Parallel Manipulators by Means of Screw Theory. Journal of Mechanical Engineering, 45(2), 89–95. https://doi.org/10.3329/jme.v45i2.28207