Abstract
The goal of this work is to present a study on the kinematics of a class of parallel manipulators having a radial link of variable length. The inverse kinematics equation is characterized by using spherical coordinates. The inverse differential kinematics and statics are derived in terms of both an analytical and a geometric Jacobian, and a manipulability analysis along the various workspace directions is developed. A Jacobian-based algorithm is presented to solve the direct kinematics problem along a given trajectory. Simulation results are illustrated.
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