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2015 | OriginalPaper | Chapter

Rigid Body Hyper-jerk Analysis Using Screw Theory

Authors : Jaime Gallardo-Alvarado, Mario A. Garcia-Murillo

Published in: Multibody Mechatronic Systems

Publisher: Springer International Publishing

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Abstract

Few decades ago screw theory appears to be an ‘old fashioned’ mathematical tool confined to solve simple rigid-body first-order kinematic analysis. Still in our days the validity of the acceleration equations in screw form of kinematic chains introduced by Rico and Duffy in the 1990s has been bitterly disappointed by some kinematicians. This work deals with an application of the theory of screws not only in the rigid-body acceleration analysis but also in the jerk and hyper-jerk analyses of a six-degrees-of-freedom parallel manipulator. The Inverse/Forward kinematic equations of the robot are systematically obtained by resorting to reciprocal-screw theory. The contribution is a little proof that screw theory is a trusted and confident mathematical resource to investigate the rigid-body higher-order kinematic analyses. Numerical examples, which are verified with the aid of commercially available software, are provided in order to show the application of the method.

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Title: Rigid Body Hyper-jerk Analysis Using Screw Theory
Authors: Jaime Gallardo-Alvarado
Mario A. Garcia-Murillo
Publisher: Springer International Publishing
Book: Multibody Mechatronic Systems
Print ISBN: 978-3-319-09857-9

Electronic ISBN: 978-3-319-09858-6

Copyright Year: 2015
DOI: https://doi.org/10.1007/978-3-319-09858-6_39