Algorithm 795: PHCpack: a general-purpose solver for polynomial systems by homotopy continuation
ACM Transactions on Mathematical Software (TOMS)
Dynamic formulation and performance evaluation of the redundant parallel manipulator
Robotics and Computer-Integrated Manufacturing
Using CAD geometric variation approach machining complex workpiece by a 3-SPR parallel machine tool
Robotics and Computer-Integrated Manufacturing
Control based on double neural networks-PI for parallel mechanism
Robotics and Computer-Integrated Manufacturing
Parasitic motion comparison of 3-PRS parallel mechanism with different limb arrangements
Robotics and Computer-Integrated Manufacturing
The kinematics of modular spatial hyper-redundant manipulators formed from RPS-type limbs
Robotics and Autonomous Systems
Robotics and Computer-Integrated Manufacturing
Robotics and Computer-Integrated Manufacturing
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This work reports on the kinematics of a series-parallel manipulator built with two zero-torsion tangential parallel manipulators assembled in series connection. Although this mechanism has been widely studied, there are some topics that must be revised, e.g. the mobility analysis here reported shows that the robot under study is not precisely a six degrees of freedom spatial mechanism as it has been commonly considered. Furthermore, the traditional hexagonal coupler platform is replaced with a three-dimensional platform which yields a mechanism with a more general topology. The forward and inverse displacement analyses of the robot are obtained in semi-closed form solutions based on simple closure equations which are generated upon the coordinates of three points embedded to the moving platform while the input-output equations of velocity and acceleration of the semi-general series-parallel manipulator are easily derived by resorting to reciprocal-screw theory. A case study is included in order to show the application of the method of kinematic analysis.