Abstract:This paper presents the higher-order kinematic analyses of a planar parallel robot, addressed by means of the theory of screws. The reduced velocity, acceleration, jerk and hyper-jerk state for the end-effector of robot was developed as a spatial vector by applying the concept of Lie algebra and helicoidal vector field. In order to verify the effectiveness of this theoretical development, the kinematics models obtained was solved and simulated in MATLAB environment, using Freeth’s Nephroid trajectory as refere… Show more
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