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This work is devoted to investigate the kinematics of a nine-degrees-of-freedom parallel manipulator whose active kinematic pairs are located near to the fixed platform, and it is equipped with a 6-R configurable platform. The mobility of the proposed 9-UPUR{6R} configurable parallel manipulator is such that it is possible to manipulate the kinematics of a grasping triangle associated to the configurable platform. The theory of screws is systematically applied to solve the direct and inverse infinitesimal kinematics of the manipulator. As an intermediate step, the displacement analysis is approached by means of algebraic geometry. The contribution is complemented with numerical examples to illustrate the versatility of the method of kinematic analysis.<\/jats:p>","DOI":"10.1017\/s0263574722001011","type":"journal-article","created":{"date-parts":[[2022,7,21]],"date-time":"2022-07-21T08:05:50Z","timestamp":1658390750000},"page":"4455-4474","source":"Crossref","is-referenced-by-count":6,"title":["Kinematics of a nine-legged in-parallel manipulator with configurable platform"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8208-0432","authenticated-orcid":false,"given":"Jaime","family":"Gallardo-Alvarado","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4487-5859","authenticated-orcid":false,"given":"Mario A.","family":"Garcia-Murillo","sequence":"additional","affiliation":[]},{"given":"Ramon","family":"Rodriguez-Castro","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2022,7,21]]},"reference":[{"key":"S0263574722001011_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.837234"},{"key":"S0263574722001011_ref14","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1155\/2019\/3123808","article-title":"An application of the Newton-homotopy continuation method for solving the forward kinematic problem of the 3-RRS parallel manipulator","volume":"2019","author":"Gallardo-Alvarado","year":"2019","journal-title":"Math. 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M. , \u201cScrew Theory and Helicoidal Fields,\u201d In: Proceedings of the 25th Biennial Mechanisms Conference, Atlanta, ASME. paper DETC98\/MECH-5893 (1998).","DOI":"10.1115\/DETC98\/MECH-5893"},{"key":"S0263574722001011_ref15","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-31126-5"},{"key":"S0263574722001011_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2016.10.022"},{"key":"S0263574722001011_ref3","first-page":"104755","article-title":"Kinematic characteristics and dynamics analysis of an overconstrained scissors double-hoop truss deployable antenna mechanism based on screw theory","volume":"7","author":"Han","year":"2019","journal-title":"IEEE Access"},{"key":"S0263574722001011_ref12","doi-asserted-by":"publisher","DOI":"10.1115\/1.1641189"},{"key":"S0263574722001011_ref10","doi-asserted-by":"publisher","DOI":"10.1007\/s11012-020-01136-y"},{"key":"S0263574722001011_ref9","unstructured":"[9] Pfurner, M. , \u201cAnalysis of A Delta Like Parallel Mechanism with an Overconstrained Serial Chain as Platform,\u201d In: Proceedings 14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, IFToMM (2015)."},{"key":"S0263574722001011_ref5","doi-asserted-by":"publisher","DOI":"10.1177\/0954406215602511"},{"key":"S0263574722001011_ref11","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1098-2728(1996)8:1<17::AID-LRA3>3.0.CO;2-#"},{"key":"S0263574722001011_ref8","doi-asserted-by":"publisher","DOI":"10.1177\/027836402322023240"},{"key":"S0263574722001011_ref18","doi-asserted-by":"publisher","DOI":"10.1115\/1.1288360"},{"key":"S0263574722001011_ref19","doi-asserted-by":"publisher","DOI":"10.1017\/S026357472100117X"},{"key":"S0263574722001011_ref13","first-page":"1169","article-title":"A study of convergence on the Newton-homotopy continuation method","volume":"168","author":"Wu","year":"2005","journal-title":"Appl. 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