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Cinemática de un manipulador configurable por medio de la teoría de tornillos

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Cinemática de un manipulador configurable por medio de la teoría de tornillos

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dc.contributor.author Gallardo-Alvarado, J. es_ES
dc.contributor.author Tinajero-Campo, J. H. es_ES
dc.contributor.author Sánchez-Rodríguez, Á. es_ES
dc.date.accessioned 2021-02-03T08:03:34Z
dc.date.available 2021-02-03T08:03:34Z
dc.date.issued 2020-12-23
dc.identifier.issn 1697-7912
dc.identifier.uri http://hdl.handle.net/10251/160619
dc.description.abstract [EN] This paper addresses the kinematic analysis of a redundant parallel manipulator with a configurable platform equipped with two end-effectors. The closure equations of the position analysis generate a system of quadratic equations which is solved by applying the Newton-homotopy method. Subsequently, the instantaneous kinematics of the robot is solved by resorting to the theory of screws. The efficiency of the method is such that the calculation of passive joint rates of the robot is not required form the determination of the input-outputn equation of velocity of the parallel manipulator. Numerical examples are compared with the outcome of a commercial software demonstrating the approach correctness. es_ES
dc.description.abstract [ES] En este trabajo se aborda el análisis cinemático de un m manipulador redundante con una plataforma configurable equipada con dos efectores finales. Las ecuaciones de clausura del análisis de posición generan un sistema de ecuaciones cuadráticas el cual se resuelve aplicando Newton-homotopía. Posteriormente, la cinemática instantánea del robot se resuelve recurriendo a la teoría de tornillos. La eficiencia del método es tal que no se requiere del cálculo de las velocidades articulares pasivas del robot para la determinación de la ecuación entrada-salida de velocidad del manipulador paralelo. Ejemplos numéricos se comparan con los resultados de un software comercial lo cual demuestra veracidad del método. es_ES
dc.description.sponsorship Este trabajo ha sido realizado gracias al apoyo del Consejo Nacional de Ciencia y Tecnología de México, Conacyt, a través de la membresía del Dr. Jaime Gallardo–Alvarado al Sistema Nacional de Investigadores. 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 - Compartir igual (by-nc-sa) es_ES
dc.subject Industrial robotics and robotic manipulators es_ES
dc.subject Multibody systems es_ES
dc.subject Robot kinematics es_ES
dc.subject Robotic systems es_ES
dc.subject Cinemática de robots es_ES
dc.subject Robot industrial y manipuladores robóticos es_ES
dc.subject Sistemas multicuerpo es_ES
dc.subject Sistemas robotizados es_ES
dc.title Cinemática de un manipulador configurable por medio de la teoría de tornillos es_ES
dc.title.alternative Kinematic of a configurable manipulator using screw theory es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.4995/riai.2020.12793
dc.rights.accessRights Abierto es_ES
dc.description.bibliographicCitation Gallardo-Alvarado, J.; Tinajero-Campo, JH.; Sánchez-Rodríguez, Á. (2020). Cinemática de un manipulador configurable por medio de la teoría de tornillos. Revista Iberoamericana de Automática e Informática industrial. 18(1):58-67. https://doi.org/10.4995/riai.2020.12793 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.4995/riai.2020.12793 es_ES
dc.description.upvformatpinicio 58 es_ES
dc.description.upvformatpfin 67 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 18 es_ES
dc.description.issue 1 es_ES
dc.identifier.eissn 1697-7920
dc.relation.pasarela OJS\12793 es_ES
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