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• W2020512789 abstract "This paper presents a new approach to the velocity and acceleration analyses of lower mobility parallel manipulators. Building on the definition of the “acceleration motor,” the forward and inverse velocity and acceleration equations are formulated such that the relevant analyses can be integrated under a unified framework that is based on the generalized Jacobian. A new Hessian matrix of serial kinematic chains (or limbs) is developed in an explicit and compact form using Lie brackets. This idea is then extended to cover parallel manipulators by considering the loop closure constraints. A 3-PRS parallel manipulator with coupled translational and rotational motion capabilities is analyzed to illustrate the generality and effectiveness of this approach." @default.
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• W2020512789 date "2011-02-01" @default.
• W2020512789 modified "2023-10-04" @default.
• W2020512789 title "An Approach for Acceleration Analysis of Lower Mobility Parallel Manipulators" @default.
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• W2020512789 doi "https://doi.org/10.1115/1.4003271" @default.
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