Algebraic Insight on the Concomitant Motion of 3RPS and 3PRS PKMs

  title={Algebraic Insight on the Concomitant Motion of 3RPS and 3PRS PKMs},
  author={Hassen Nigatu and Yimesker Yihun},
This study presents an algebraic method to detect, count, and identify concomitant motions of parallel robots at the velocity level. The pose and orientation of moving platform of parallel manipulators (PMs) with f-DOF could be commonly described by f possible motion variables on the instantaneous motion space (IMS) and \((6-f)\) restriction motion variables on the instantaneous restriction space (IRS). However, in some situations, PMs moving platform may accompanied by a concomitant (parasitic… 
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