Jerk analysis of a six-degrees-of-freedom three-legged parallel manipulator

In this work the jerk analysis of a 3-RRPS parallel manipulator to realize six degrees of freedom is approached by means of the theory of screws. The input/output equations of velocity, acceleration and jerk of the moving platform with respect to the fixed platform are obtained systematically by resorting to reciprocal-screw theory. A numerical example is included in order to show the application of the method of kinematic analysis. Furthermore, the numerical results obtained via screw theory are satisfactorily compared with simulations generated with the aid of commercially available software.

► Human motion is controlled by jerk.
► Parallel manipulators have potential applications in biomechanics.
► The jerk analysis of a parallel manipulator is solved by means of the screw theory.
► Six degrees of freedom are available for this robot.
► A case study is verified with the aid of commercially available software.