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3D inertia transfer concept and symbolic determination of the base inertial parameters

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3D inertia transfer concept and symbolic determination of the base inertial parameters

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dc.contributor.author Ros, Javier es_ES
dc.contributor.author Iriarte, Xabier es_ES
dc.contributor.author Mata Amela, Vicente es_ES
dc.date.accessioned 2018-11-08T05:34:59Z
dc.date.available 2018-11-08T05:34:59Z
dc.date.issued 2012 es_ES
dc.identifier.issn 0094-114X es_ES
dc.identifier.uri http://hdl.handle.net/10251/112088
dc.description.abstract [EN] A new and simple symbolic/geometric procedure to obtain the base inertial parameters of general mechanisms is presented. The procedure is based on: 1) the concept of low mobility of bodies with respect to the Inertial Reference frame (IR), which allows one to determine the inertial parameters that do not have an effect on the motion dynamics; and 2) a generalisation of the mass transfer method introduced in [1,2] in such a way that first and second moments of inertia can also be transferred. The concepts of monopole, dipole and quadrupole mass distributions (multipoles) are introduced as means to visualise the inertia transfers and cancellations geometrically, greatly simplifying the application of the method. Criteria that simplify the symbolic expressions of base inertial parameters and of the equations of motion are given for the selection of optimal frames to define inertial properties. The proposed method is illustrated with a 3RPS parallel manipulator, demonstrating how expressions for the base parameters can be obtained in symbolic form. es_ES
dc.description.sponsorship This research has been partially supported by the Spanish Government grant # DPI2010-20814-C02-01(IDEMOV) and the "Salvador de Madariaga" fellowship #PR2009-0259. en_EN
dc.language Inglés es_ES
dc.publisher Elsevier es_ES
dc.relation info:eu-repo/grantAgreement/MICINN//DPI2010-20814-C02-01/ES/IDENTIFICACION DE PARAMETROS DINAMICOS EN VEHICULOS LIGEROS Y ROBOTS MOVILES. APLICACION A LA IDENTIFICACION EN TIEMPO REAL./ es_ES
dc.relation.ispartof Mechanism and Machine Theory es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Robotics es_ES
dc.subject Parameter identification es_ES
dc.subject Base parameters es_ES
dc.subject SymbolicInertia transfer es_ES
dc.subject Multipole es_ES
dc.subject.classification INGENIERIA MECANICA es_ES
dc.title 3D inertia transfer concept and symbolic determination of the base inertial parameters es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.mechmachtheory.2011.09.006 es_ES
dc.rights.accessRights Cerrado es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials es_ES
dc.description.bibliographicCitation Ros, J.; Iriarte, X.; Mata Amela, V. (2012). 3D inertia transfer concept and symbolic determination of the base inertial parameters. Mechanism and Machine Theory. 49:284-297. https://doi.org/10.1016/j.mechmachtheory.2011.09.006 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.1016/j.mechmachtheory.2011.09.006 es_ES
dc.description.upvformatpinicio 284 es_ES
dc.description.upvformatpfin 297 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 49 es_ES
dc.relation.pasarela S\210468 es_ES
dc.contributor.funder Ministerio de Ciencia e Innovación es_ES


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