- -

Obtención de un Modelo Dinámico para un Robot 3RRR Basado en Teoría de Screws

RiuNet: Institutional repository of the Polithecnic University of Valencia

Share/Send to

Cited by

Statistics

Obtención de un Modelo Dinámico para un Robot 3RRR Basado en Teoría de Screws

Show full item record

Serrano, FE.; Rodriguez, BA.; Cardona, M. (2018). Obtención de un Modelo Dinámico para un Robot 3RRR Basado en Teoría de Screws. Revista Iberoamericana de Automática e Informática industrial. 15(4):384-390. https://doi.org/10.4995/riai.2018.8725

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/142829

Files in this item

Item Metadata

Title: Obtención de un Modelo Dinámico para un Robot 3RRR Basado en Teoría de Screws
Secondary Title: Dynamic Model Derivation of a 3RRR Robot Based in Screw Theory
Author: Serrano, Fernando E. Rodriguez, Benigno A. Cardona, Manuel
Issued date:
Abstract:
[EN] In this article a technique to obtain a dynamic model of a 3RRR robot from its kinematic model based on screw theory is proposed, which allows to obtain the open or closed robot kinematics. First the kinematic model ...[+]


[ES] En este artículo se propone una nueva técnica para la obtención de un modelo dinámico de robots 3RRR a partir de un modelo cinemático basado en teoría de screws, la cual permite obtener la cinemática de un robot ya ...[+]
Subjects: Kinematics , Dynamics , Parallel Robot , Screw Theory , 3 RRR Robot , Cinemática , Dinámica , Robot Paralelo , Teoría de Screws , Robot 3RRR
Copyrigths: Reconocimiento - No comercial - Sin obra derivada (by-nc-nd)
Source:
Revista Iberoamericana de Automática e Informática industrial. (issn: 1697-7912 ) (eissn: 1697-7920 )
DOI: 10.4995/riai.2018.8725
Publisher:
Universitat Politècnica de València
Publisher version: https://doi.org/10.4995/riai.2018.8725
Type: Artículo

References

Bartkowiak, R., Woernle, C., 2016. Necessary and sufficient mobility conditions for single-loop overconstrained nh mechanisms. Mechanism and Machine Theory 103, 65 - 84. https://doi.org/10.1016/j.mechmachtheory.2016.03.023

Cardona, M. N., 2009. Analisis cinematico de robots paralelos planares 3rrr. Vigesimo novena convencion de centroamerica y panama del IEEE CONCAPAN XXIX.

Cardona, M. N., Feb 2015. Dimensional synthesis of 3rrr planar parallel robots for well-conditioned workspace. IEEE Latin America Transactions 13 (2), 409-415. DOI: 10.1109/TLA.2015.7055557 https://doi.org/10.1109/TLA.2015.7055557 [+]
Bartkowiak, R., Woernle, C., 2016. Necessary and sufficient mobility conditions for single-loop overconstrained nh mechanisms. Mechanism and Machine Theory 103, 65 - 84. https://doi.org/10.1016/j.mechmachtheory.2016.03.023

Cardona, M. N., 2009. Analisis cinematico de robots paralelos planares 3rrr. Vigesimo novena convencion de centroamerica y panama del IEEE CONCAPAN XXIX.

Cardona, M. N., Feb 2015. Dimensional synthesis of 3rrr planar parallel robots for well-conditioned workspace. IEEE Latin America Transactions 13 (2), 409-415. DOI: 10.1109/TLA.2015.7055557 https://doi.org/10.1109/TLA.2015.7055557

Chen, X., Liu, X.-J., Xie, F., 2015. Screw theory based singularity analysis of lower-mobility parallel robots considering the motion/force transmissibility and constrainability. Mathematical Problems in Engineering. https://doi.org/10.1155/2015/487956

Liping, W., Huayang, X., Liwen, G., Yu, Z., 2016. A novel 3-puu parallel mechanism and its kinematic issues. Robotics and Computer-Integrated Manufacturing 42, 86 - 102. https://doi.org/10.1016/j.rcim.2016.05.003

Lopez-Custodio, P., Rico, J., Cervantes-Sánchez, J., Pérez-Soto, G., Díez-Martínez, C., 2017. Verification of the higher order kinematic analyses equations. European Journal of Mechanics - A/Solids 61, 198 - 215. https://doi.org/10.1016/j.euromechsol.2016.09.010

Mejia, L., Simas, H., Martins, D., 2016. Wrench capability in redundant planar parallel manipulators with net degree of constraint equal to four, five or six. Mechanism and Machine Theory 105, 58 - 79. https://doi.org/10.1016/j.mechmachtheory.2016.06.020

Sun, T., Zhai, Y., Song, Y., Zhang, J., 2016. Kinematic calibration of a 3-dof rotational parallel manipulator using laser tracker. Robotics and Computer-Integrated Manufacturing 41, 78 - 91. https://doi.org/10.1016/j.rcim.2016.02.008

Wu, A., Shi, Z., Li, Y., 2015. Formal kinematic analysis of a general 6r manipulator using the screw theory. Mathematical Problems in Engineering. https://doi.org/10.1155/2015/549797

Wu, Y., Carricato, M., 2017. Identification and geometric characterization of lie triple screw systems and their exponential images. Mechanism and Machine Theory 107, 305 - 323. https://doi.org/10.1016/j.mechmachtheory.2016.09.020

Xiong, T., Chen, L., Ding, J., Wu, Y., Hou, W., 2016. Recognition of kinematic joints of 3d assembly models based on reciprocal screw theory. Mathematical Problems in Engineering. https://doi.org/10.1155/2016/1761968

Xu, Y., Zhang, D., Yao, J., Zhao, Y., 2017. Type synthesis of the 2r1t parallel mechanism with two continuous rotational axes and study on the principle of its motion decoupling. Mechanism and Machine Theory 108, 27 - 40. https://doi.org/10.1016/j.mechmachtheory.2016.09.007

Zhao, T., Li, E., Bian, H.,Wang, C., Geng, M., 2017. Type synthesis and analysis of rotational parallel mechanisms with a virtual continuous axis. Mechanism and Machine Theory 109, 139 - 154. https://doi.org/10.1016/j.mechmachtheory.2016.09.023

Zubizarreta, A., Marcos, M., Cabanes, I., Pinto, C., Portillo, E., 2012. Redundant sensor based control of the 3rrr parallel robot. Mechanism and Machine Theory 54, 1 - 17. https://doi.org/10.1016/j.mechmachtheory.2012.03.004

[-]

This item appears in the following Collection(s)

Show full item record