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Análisis Cinemático del Manipulador Paralelo 4-PRUR Mediante la Teoría de Tornillos

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Análisis Cinemático del Manipulador Paralelo 4-PRUR Mediante la Teoría de Tornillos

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dc.contributor.author Gallardo-Alvarado, Jaime es_ES
dc.contributor.author García Murillo, Mario A. es_ES
dc.date.accessioned 2020-05-15T11:01:00Z
dc.date.available 2020-05-15T11:01:00Z
dc.date.issued 2017-07-09
dc.identifier.issn 1697-7912
dc.identifier.uri http://hdl.handle.net/10251/143385
dc.description.abstract [ES] En este trabajo se presenta el análisis cinemático de un robot paralelo generador del movimiento de Schönflies por medio de la teoría de tornillos. Como un paso intermedio, el análisis de posición se obtiene en forma semi-cerrada con base en las coordenadas de dos puntos de la plataforma móvil. Esta estrategia requiere de sólo un marco de referencia, evitando así el cálculo de la matriz de rotación. Las ecuaciones entrada-salida de velocidad y de aceleración se obtienen sistemáticamente recurriendo a la teoría de tornillos recíprocos. Para ello, el robot se modela como si fuese un manipulador paralelo de seis grados de libertad gracias a la incorporación de pares cinemáticos ficticios que conectan las extremidades con la plataforma fija y una cadena cinemática virtual con la finalidad de aplicar sin restricciones el álgebra de Lie se(3) del grupo Euclideo SE(3). El análisis de singularidades se aborda con base en la ecuación entrada-salida de velocidad. Se incluyen ejemplos numéricos que muestran la aplicación del método. es_ES
dc.description.abstract [EN] In this work the kinematics of a parallel manipulator performing Schonflies motion is investigated by means of the theory ¨ of screws. As an intermediate step, the displacement analysis is reported in semi-closed form solution based on the coordinates of two points embedded in the moving platform. This strategy allows to employ only one reference frame avoiding the computation of the rotation matrix. The input-output equations of velocity and acceleration are systematically obtained by resorting to reciprocal-screw theory. To this aim, the robot is treated as a six-degrees-of-freedom parallel manipulator incorporating pseudo kinematic pairs connecting the limbs to the fixed platform and one virtual kinematic chain in order to apply without restrictions the Lie algebra se(3) of the Euclidean group S E(3). The singularity analysis is investigated based on the input-output equation of velocity. Numerical examples are included in order to show the application of the method. es_ES
dc.language Español es_ES
dc.publisher Universitat Politècnica de València es_ES
dc.relation.ispartof Revista Iberoamericana de Automática e Informática industrial es_ES
dc.rights Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) es_ES
dc.subject Parallel robot es_ES
dc.subject Schonflies motion es_ES
dc.subject Screw theory es_ES
dc.subject Kinematics es_ES
dc.subject Robot paralelo es_ES
dc.subject Movimientos de Schönflies es_ES
dc.subject Teoría de tornillos es_ES
dc.subject Cinemática es_ES
dc.title Análisis Cinemático del Manipulador Paralelo 4-PRUR Mediante la Teoría de Tornillos es_ES
dc.title.alternative Kinematics by Means of Screw Theory of The 4-PRUR Parallel Manipulator es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.riai.2017.03.001
dc.rights.accessRights Abierto es_ES
dc.description.bibliographicCitation Gallardo-Alvarado, J.; García Murillo, MA. (2017). Análisis Cinemático del Manipulador Paralelo 4-PRUR Mediante la Teoría de Tornillos. Revista Iberoamericana de Automática e Informática industrial. 14(3):299-306. https://doi.org/10.1016/j.riai.2017.03.001 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.1016/j.riai.2017.03.001 es_ES
dc.description.upvformatpinicio 299 es_ES
dc.description.upvformatpfin 306 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 14 es_ES
dc.description.issue 3 es_ES
dc.identifier.eissn 1697-7920
dc.relation.pasarela OJS\9212 es_ES
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