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Advances in Robotics Research
  Volume 1, Number 3, July 2014, pages 185-198
open access

Kinematics of a decoupled series-parallel manipulator by means of screw theory
J. Gallardo-Alvarado, R. Rodriguez-Castro and A. Sanchez-Rodriguez

    This work reports on the kinematic analyses of a non-redundant spatial robot built with a translational manipulator assembled in series connection with a parallel wrist. The first mechanism is a fully-decoupled, fully-isotropic and singularity-free translational manipulator while the second mechanism is a spherical parallel manipulator equipped with rotational actuators. The parallel wrist is free of revolute joints with concurrent axes. Numerical examples are provided in order to show the application of the method.
Key Words
    decoupled motions; screw theory; series-parallel manipulator; kinematics
J. Gallardo-Alvarado, R. Rodriguez-Castro, A. Sanchez-Rodriguez: Department of Mechanical Engineering, Instituto Tecnologico de Celaya, Mexico

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