Jerk Analysis of the Spine by Means of a Parallel Manipulator

Abstract

In this work the kinematics of the end of the spine is simulated by means of a five-degree-of-freedom decoupled parallel manipulator. The displacement analysis is presented in a semi-closed form solution, whereas the velocity, acceleration and jerk analyses are carried out by means of the theory of screws.

Keywords

• Jerk; Parallel Manipulator; Screw Theory; Spine