This paper presents a methodology for the Jacobian analysis of parallel manipulators with multiple end-effectors (PMxE). The end-effector velocity state of a PMxE is described by one twist of a principal end-effector with respect to the base and a set of relative twists of the remaining end-effectors with respect to the principal end-effector The twist of each terminal link with respect to the principal end-effector is then expressed as a linear function of the relative twists, which enables an extension of the generalized Jacobian analysis to PMxE. The presented methodology is detailed for parallel manipulators with two end-effectors, where a planar 6-RRR manipulator with a 2-RRR internal closed-loop is used as an example.

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