Análisis Cinemático de un Novedoso Robot Paralelo Reconfigurable
[EN] This work presents the kinematic analysis of a reconfigurable manipulator composed of two parallel sub-manipulators that share a common moving platform. A semi-closed form solution is easily obtained to solve the forward displacement analysis of the robot taking advantage of the non-planar geom...
| Authors: | , , , |
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| Format: | article |
| Publication Date: | 2016 |
| Country: | España |
| Institution: | Universitat Politècnica de València (UPV) |
| Repository: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Language: | Spanish |
| OAI Identifier: | oai:riunet.upv.es:10251/143566 |
| Online Access: | https://riunet.upv.es/handle/10251/143566 |
| Access Level: | Open access |
| Keyword: | Parallel robot Reconfiguration Kinematics Screw theory Jacobian matrix Manipulability index Robot paralelo Reconfiguración Cinemática Teoría de tornillos Matriz jacobiana Índice de manipulabilidad |
| Summary: | [EN] This work presents the kinematic analysis of a reconfigurable manipulator composed of two parallel sub-manipulators that share a common moving platform. A semi-closed form solution is easily obtained to solve the forward displacement analysis of the robot taking advantage of the non-planar geometry of the moving platform, while the velocity, acceleration and singularity analyses are developed by resorting to screw theory. Finally a very practical approach based on the manipulability index of the jacobian matrix of the robot is proposed in order to determine the geometric configuration that optimizes the performance of the manipulator given a pose of the moving platform. |
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