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Title of Journal: J Braz Soc Mech Sci Eng

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Abbravation: Journal of the Brazilian Society of Mechanical Sciences and Engineering

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Springer Berlin Heidelberg

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DOI

10.1007/s40278-015-3633-8

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1806-3691

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A natural extension of the 4R linkage to the 3RRR

Authors: J Jesús CervantesSánchez José M RicoMartínez Juan D OrozcoMuñiz
Publish Date: 2015/04/30
Volume: 39, Issue: 3, Pages: 895-907
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Abstract

This paper presents a natural extension of the classical input–output equation of a fourbar spherical linkage to the forward displacement analysis of a 3RRR spherical parallel manipulator As a main result it is obtained a closedform solution represented by a 16thdegree polynomial in terms of only one variable In addition the proposed method works equally well for general geometries and for special geometries of the mobile platform and fixed platform of the manipulator A fully detailed case study is reported

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