The Kinematics of a New Schönflies Motion Generator Parallel Manipulator Using Screw Theory
In this work, an innovative Schönflies motion generator manipulator is introduced, featuring a parallel architecture composed of serial chains with mixed degrees of freedom. Fundamental kinematic aspects essential to any manipulator such as displacement, velocity, acceleration, and singularity analy...
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MDPI AG
2025-07-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/13/14/2291 |
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| author | Jaime Gallardo-Alvarado Horacio Orozco-Mendoza Ramon Rodriguez-Castro Alvaro Sanchez-Rodriguez Luis A. Alcaraz-Caracheo |
| author_facet | Jaime Gallardo-Alvarado Horacio Orozco-Mendoza Ramon Rodriguez-Castro Alvaro Sanchez-Rodriguez Luis A. Alcaraz-Caracheo |
| author_sort | Jaime Gallardo-Alvarado |
| collection | DOAJ |
| description | In this work, an innovative Schönflies motion generator manipulator is introduced, featuring a parallel architecture composed of serial chains with mixed degrees of freedom. Fundamental kinematic aspects essential to any manipulator such as displacement, velocity, acceleration, and singularity analyses are thoroughly addressed. Screw theory is employed to derive compact input–output expressions for velocity and acceleration, leveraging the properties of reciprocal screws and lines associated with the constrained degrees of freedom in the parallel manipulator. A key advantage of the proposed design is its near-complete avoidance of singular configurations, which significantly enhances its applicability in robotic manipulation. Numerical examples are provided to validate the theoretical results, with corroboration from specialized tools such as ADAMS™ software and data fitting algorithms. These results confirm the reliability and robustness of the developed kinematic analysis approach. |
| format | Article |
| id | doaj-art-a0fe0e946e1848659318cb3d2acd76da |
| institution | Matheson Library |
| issn | 2227-7390 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj-art-a0fe0e946e1848659318cb3d2acd76da2025-07-25T13:29:04ZengMDPI AGMathematics2227-73902025-07-011314229110.3390/math13142291The Kinematics of a New Schönflies Motion Generator Parallel Manipulator Using Screw TheoryJaime Gallardo-Alvarado0Horacio Orozco-Mendoza1Ramon Rodriguez-Castro2Alvaro Sanchez-Rodriguez3Luis A. Alcaraz-Caracheo4Department of Mechanical Engineering, National Technological Institute of Mexico, Celaya Campus, Celaya 38010, MexicoDepartment of Mechanical Engineering, National Technological Institute of Mexico, Celaya Campus, Celaya 38010, MexicoDepartment of Mechanical Engineering, National Technological Institute of Mexico, Celaya Campus, Celaya 38010, MexicoDepartment of Mechanical Engineering, National Technological Institute of Mexico, Celaya Campus, Celaya 38010, MexicoDepartment of Mechanical Engineering, National Technological Institute of Mexico, Celaya Campus, Celaya 38010, MexicoIn this work, an innovative Schönflies motion generator manipulator is introduced, featuring a parallel architecture composed of serial chains with mixed degrees of freedom. Fundamental kinematic aspects essential to any manipulator such as displacement, velocity, acceleration, and singularity analyses are thoroughly addressed. Screw theory is employed to derive compact input–output expressions for velocity and acceleration, leveraging the properties of reciprocal screws and lines associated with the constrained degrees of freedom in the parallel manipulator. A key advantage of the proposed design is its near-complete avoidance of singular configurations, which significantly enhances its applicability in robotic manipulation. Numerical examples are provided to validate the theoretical results, with corroboration from specialized tools such as ADAMS™ software and data fitting algorithms. These results confirm the reliability and robustness of the developed kinematic analysis approach.https://www.mdpi.com/2227-7390/13/14/2291Schönflies motionparallel manipulatorscrew theorykinematics |
| spellingShingle | Jaime Gallardo-Alvarado Horacio Orozco-Mendoza Ramon Rodriguez-Castro Alvaro Sanchez-Rodriguez Luis A. Alcaraz-Caracheo The Kinematics of a New Schönflies Motion Generator Parallel Manipulator Using Screw Theory Mathematics Schönflies motion parallel manipulator screw theory kinematics |
| title | The Kinematics of a New Schönflies Motion Generator Parallel Manipulator Using Screw Theory |
| title_full | The Kinematics of a New Schönflies Motion Generator Parallel Manipulator Using Screw Theory |
| title_fullStr | The Kinematics of a New Schönflies Motion Generator Parallel Manipulator Using Screw Theory |
| title_full_unstemmed | The Kinematics of a New Schönflies Motion Generator Parallel Manipulator Using Screw Theory |
| title_short | The Kinematics of a New Schönflies Motion Generator Parallel Manipulator Using Screw Theory |
| title_sort | kinematics of a new schonflies motion generator parallel manipulator using screw theory |
| topic | Schönflies motion parallel manipulator screw theory kinematics |
| url | https://www.mdpi.com/2227-7390/13/14/2291 |
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