Mobility analysis and kinematics of the semi-general 2(3-RPS) series-parallel manipulator
The mobility of the 2(3-RPS) manipulator is revised. A three-dimensional coupler platform is introduced. A novel forward displacement analysis is introduced. The infinitesimal kinematics is approached by means of screw theory. Numerical examples are included.
kinematics series-parallel manipulator 3-rps parallel manipulator semi-closed form solution