Influencia de los parámetros de diseño en el espacio de trabajo de un mecanismo paralelo planar 3RRR
Keywords:
Parallel mechanism, workspace, robotics, parallel robotsAbstract
The process for the qualitative analysis of thedexterity distribution within 3RRR parallelmanipulator is described. Inverse kinematics,Jacobian matrix, and dexterity concept are usedfor to make a MATLAB tool and to make themovement and workspace of the platform easierto display. The computational tool was usedto see the workspace behavior when the designparameters are modified. The goal is to help tounderstand the conceptual design and to generatecriterion for the development of a mathematictool to optimize the mechanisms.
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References
1. B. Siciliano and O. Khatib, Springer handbookof robotics, Springer-Verlag New York Inc, 2008.
2. G. Yang and W.C.I.-ming Chen, “A GeometricalMethod for the Singularity Analysis of 3-RRRPlanar Parallel Robots with Different ActuationSchemes,” Analysis, 2002, pp. 2055-2060.
3. L. Tsai, Robot analysis: the mechanics ofserial and parallel manipulators, John Wiley andSons, 1999.
4. M. Cardona, “Algoritmo para la Solución de laCinemática Directa de Robots Paralelos Planares3RRR Destinados a Aplicaciones en Tiempo Real.,”uww.emcs.org, pp. 1-9.
5. J. Merlet, Parallel robots, Springer, 2006.
6. C.L. Collins, “Forward kinematics of planarparallel manipulators in the Clifford algebra of P2,” Mechanism and Machine Theory, vol. 37, 2002,pp. 799-813.
7. J. Merlet and M. Clément, Others, “Workspacesof planar parallel manipulators,” Mechanism andMachine Theory, vol. 33, 1998, p. 7–20.
8. Z. Ji, “Study of planar three-degreeof-freedom 2-RRR parallel manipulators,”Mechanism and Machine Theory, vol. 38, May.2003, pp. 409-416.
9. C.A. Jara, J.M. Sabater, J.M. Azorín, N.M. García,C. Pérez, R. Saltaren, and E. Yime, “Análisis delespacio de trabajo de un robot paralelo 3RRR,”xmvtech.org.
10. H. Mohammadi Daniali, P. Zsombor-Murray,and J. Angeles, “Singularity analysis of planarparallel manipulators,” Mechanism and MachineTheory, vol. 30, 1995, p. 665–678.
2. G. Yang and W.C.I.-ming Chen, “A GeometricalMethod for the Singularity Analysis of 3-RRRPlanar Parallel Robots with Different ActuationSchemes,” Analysis, 2002, pp. 2055-2060.
3. L. Tsai, Robot analysis: the mechanics ofserial and parallel manipulators, John Wiley andSons, 1999.
4. M. Cardona, “Algoritmo para la Solución de laCinemática Directa de Robots Paralelos Planares3RRR Destinados a Aplicaciones en Tiempo Real.,”uww.emcs.org, pp. 1-9.
5. J. Merlet, Parallel robots, Springer, 2006.
6. C.L. Collins, “Forward kinematics of planarparallel manipulators in the Clifford algebra of P2,” Mechanism and Machine Theory, vol. 37, 2002,pp. 799-813.
7. J. Merlet and M. Clément, Others, “Workspacesof planar parallel manipulators,” Mechanism andMachine Theory, vol. 33, 1998, p. 7–20.
8. Z. Ji, “Study of planar three-degreeof-freedom 2-RRR parallel manipulators,”Mechanism and Machine Theory, vol. 38, May.2003, pp. 409-416.
9. C.A. Jara, J.M. Sabater, J.M. Azorín, N.M. García,C. Pérez, R. Saltaren, and E. Yime, “Análisis delespacio de trabajo de un robot paralelo 3RRR,”xmvtech.org.
10. H. Mohammadi Daniali, P. Zsombor-Murray,and J. Angeles, “Singularity analysis of planarparallel manipulators,” Mechanism and MachineTheory, vol. 30, 1995, p. 665–678.
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Published
2011-12-01
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Articles
How to Cite
Influencia de los parámetros de diseño en el espacio de trabajo de un mecanismo paralelo planar 3RRR. (2011). Avances: Investigación En Ingeniería, 8(2), 49-57. https://revistas.unilibre.edu.co/index.php/avances/article/view/2706
