Fully-Parallel Topologies with Coupled Schönflies Motions

Abstract

In the general case, in a parallel robotic manipulator with coupled Schönflies motions each operational velocity depends on four actuated joint velocities $v_{i} = v_{i} (\dot{q}_{1} ,\dot{q}_{2} ,\dot{q}_{3} ,\dot{q}_{3} ,\dot{q}_{4} )$, i = 1, 2, 3 and $\omega_{\delta } = \omega_{\delta } (\dot{q}_{1} ,\dot{q}_{2} ,\dot{q}_{3} ,\dot{q}_{4} )$.