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Análisis Cinemático de un Novedoso Robot Paralelo Reconfigurable

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Análisis Cinemático de un Novedoso Robot Paralelo Reconfigurable

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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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