Kinematic analysis of limited-dof parallel manipulators based on translational/rotational Jacobian and Hessian matrices

This paper proposes an approach for solving the velocity and acceleration of the limited-dof (dof n P R + U P U PKM and a 2S P S + R PRR PKM are illustrated for explaining how to use this method. This approach is simple because it needs neither to eliminate 6-n rows of an n × 6 Jacobian matrix nor to determine the screw or pose of the constrained wrench.

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