{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T16:52:28Z","timestamp":1775062348823,"version":"3.50.1"},"reference-count":24,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2015,3,10]],"date-time":"2015-03-10T00:00:00Z","timestamp":1425945600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>In this work the velocity, acceleration, and jerk analyses of a two-degrees-of-freedom parallel wrist are approached by means of the theory of screws. For the sake of completeness, the finite kinematics of the manipulator is also investigated. As far as the authors are aware, the equation of jerk in screw form of the robot at hand is introduced by the first time in this contribution. In order to exemplify the method, a case study is included. The numerical example is verified with the aid of commercially available software.<\/jats:p>","DOI":"10.3390\/robotics4010050","type":"journal-article","created":{"date-parts":[[2015,3,10]],"date-time":"2015-03-10T10:59:09Z","timestamp":1425985149000},"page":"50-62","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["An Application of Screw Theory to the Jerk Analysis of a Two-Degrees-of-Freedom Parallel Wrist"],"prefix":"10.3390","volume":"4","author":[{"given":"Jaime","family":"Gallardo-Alvarado","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Instituto Tecnol\u00f3gico de Celaya, TNM, Av. Tecnol\u00f3gico y A. Garc\u00eda Cubas, 38010 Celaya, GTO, M\u00e9xico"}]},{"given":"Ram\u00f3n","family":"Rodr\u00edguez-Castro","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Instituto Tecnol\u00f3gico de Celaya, TNM, Av. Tecnol\u00f3gico y A. Garc\u00eda Cubas, 38010 Celaya, GTO, M\u00e9xico"}]},{"given":"Mart\u00edn","family":"Caudillo-Ram\u00edrez","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Instituto Tecnol\u00f3gico de Celaya, TNM, Av. Tecnol\u00f3gico y A. Garc\u00eda Cubas, 38010 Celaya, GTO, M\u00e9xico"}]},{"given":"Luciano","family":"P\u00e9rez-Gonz\u00e1lez","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Instituto Tecnol\u00f3gico de Celaya, TNM, Av. Tecnol\u00f3gico y A. Garc\u00eda Cubas, 38010 Celaya, GTO, M\u00e9xico"}]}],"member":"1968","published-online":{"date-parts":[[2015,3,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"202","DOI":"10.1115\/1.3258984","article-title":"The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator","volume":"111","author":"Gosselin","year":"1989","journal-title":"Trans. ASME J. Mech. Transm. Autom. Des."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"661","DOI":"10.1177\/0278364904044077","article-title":"A novel fully decoupled two-degrees-of-freedom parallel Wrist","volume":"23","author":"Carricato","year":"2004","journal-title":"Int. J. Robot. Res."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Lenar\u010di\u010d, J., and Roth, B. (2006). Advances in Robot Kinematics: Mechanisms and Motion, Springer-Verlag.","DOI":"10.1007\/978-1-4020-4941-5"},{"key":"ref_4","unstructured":"Li, W., He, K., Qu, Y., Zhang, J., and Du, R. 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