Kinematics of a translation-rotation hybrid parallel robot


  • Stefan Staicu


connectivity relations, hybrid parallel robot, kinematics


Matrix relations for kinematics analysis of a spatial two-module hybrid parallel mechanism are established in this paper. Knowing the relative motions of the moving platforms, the inverse kinematics problem is solved based on a set of connectivity relations. Finally, compact results and graphs of simulation for the input relative displacements, velocities and accelerations are obtained.


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