The Geometry of Christopher Wren and Robert Hooke: A Walking Tour in London

Zack, Maria

doi:10.1007/s00283-010-9187-y

Cited by 1 publication

(1 citation statement)

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“…PMs have evolved from geometric shapes to complex mechanisms. One of the early implementations of PMs is found at St. Paul's Cathedral in London, where Christopher Wren included parallel towers and a triple dome design in order to improve the load capability of the structure [2]. In 1813, the French mathematician Augustine Louis Cauchy studied regular and irregular polygons and polyhedrons, resulting in the “ articulated octahedron”, a parallel structure that serves as a predecessor to the hexapod [3].…”

Section: Introductionmentioning

confidence: 99%

Instantaneous Kinematics Analysis via Screw-Theory of a Novel 3-CRC Parallel Mechanism

Torre

Rodriguez-Leal

2016

International Journal of Advanced Robotic Systems

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This paper presents the mobility and kinematics analysis of a novel parallel mechanism that is composed by one base, one platform and three identical limbs with CRC joints. The paper obtains closed-form solutions to the direct and inverse kinematics problems, and determines the mobility of the mechanism and instantaneous kinematics by applying screw theory. The obtained results show that this parallel robot is part of the family 2R1T, since the platform shows 3 DOF, i.e.: one translation perpendicular to the base and two rotations about skew axes. In order to calculate the direct instantaneous kinematics, this paper introduces the vector m h , which is part of the joint velocity vector that multiplies the overall inverse Jacobian matrix. This paper compares the results between simulations and numerical examples using Mathematica and SolidWorks in order to prove the accuracy of the analytical results.

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Section: Introductionmentioning

confidence: 99%