A Parallel Manipulator with Planar Configurable Platform and Three End-Effectors

Figure 2

The screws of one leg of the parallel robot with a configurable platform. The screw coordinates of the revolute joints are computed according to the reference frame taking the origin O of it as the reference pole. Due to the planar kinematics of the problem at hand, evidently three of the six components of each screw vanish. A condition that must be taken properly in order to obtain the input-output equations of velocity and acceleration of the robot.