In recent years there has been several contributions that approach the velocity and acceleration analyses of the so-called “lower mobility platforms” by employing kinematic influence co-efficients. The present contribution shows that, employing simple modifications, a method presented eight years ago for the velocity and acceleration analyses of Gough-Stewart platforms can be applied also to lower mobility platforms. Since the method is based on screw theory, it is simpler than that based on kinematic influence coefficients and it does not require the use of cumbersome three-dimensional arrays of real numbers.

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