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dc.contributor.author | Sánchez-Alonso, Róger E. | es_ES |
dc.contributor.author | González Barbosa, José Joel | es_ES |
dc.contributor.author | Castillo Castañeda, Eduardo | es_ES |
dc.contributor.author | García Murillo, Mario A. | es_ES |
dc.date.accessioned | 2020-05-18T13:23:06Z | |
dc.date.available | 2020-05-18T13:23:06Z | |
dc.date.issued | 2016-04-06 | |
dc.identifier.issn | 1697-7912 | |
dc.identifier.uri | http://hdl.handle.net/10251/143566 | |
dc.description.abstract | [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. | es_ES |
dc.description.abstract | [ES] Este trabajo presenta el análisis cinemático de un manipulador reconfigurable integrado por dos sub-manipuladores paralelos que comparten una plataforma móvil. Una solución en forma semi-cerrada para el análisis directo de posición del robot es obtenida tomando ventaja de la geometría no plana de la plataforma móvil, mientras que los análisis de velocidad, aceleración y singularidades son desarrollados por medio de teoría de tornillos. Finalmente se propone una aproximación basada en el índice de manipulabilidad de la matriz jacobiana para determinar la configuración geométrica que optimiza el desempeño del manipulador dada una determinada postura de la plataforma móvil. | es_ES |
dc.language | Español | es_ES |
dc.publisher | Elsevier | 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 | Reconfiguration | es_ES |
dc.subject | Kinematics | es_ES |
dc.subject | Screw theory | es_ES |
dc.subject | Jacobian matrix | es_ES |
dc.subject | Manipulability index | es_ES |
dc.subject | Robot paralelo | es_ES |
dc.subject | Reconfiguración | es_ES |
dc.subject | Cinemática | es_ES |
dc.subject | Teoría de tornillos | es_ES |
dc.subject | Matriz jacobiana | es_ES |
dc.subject | Índice de manipulabilidad | es_ES |
dc.title | Análisis Cinemático de un Novedoso Robot Paralelo Reconfigurable | es_ES |
dc.title.alternative | Kinematic Analysis of a Novel Reconfigurable Parallel Robot | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.1016/j.riai.2015.07.007 | |
dc.rights.accessRights | Abierto | es_ES |
dc.description.bibliographicCitation | Sánchez-Alonso, RE.; González Barbosa, JJ.; Castillo Castañeda, E.; García Murillo, MA. (2016). Análisis Cinemático de un Novedoso Robot Paralelo Reconfigurable. Revista Iberoamericana de Automática e Informática industrial. 13(2):247-257. https://doi.org/10.1016/j.riai.2015.07.007 | es_ES |
dc.description.accrualMethod | OJS | es_ES |
dc.relation.publisherversion | https://doi.org/10.1016/j.riai.2015.07.007 | es_ES |
dc.description.upvformatpinicio | 247 | es_ES |
dc.description.upvformatpfin | 257 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 13 | es_ES |
dc.description.issue | 2 | es_ES |
dc.identifier.eissn | 1697-7920 | |
dc.relation.pasarela | OJS\9307 | es_ES |
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