Un nuevo manipulador paralelo de cuatro grados de libertad (A New Four-Degrees-of-Freedom Parallel Manipulator)

Mario A. Garcia Murillo (garcia.mario@ugto.mx)1, Jaime Gallardo Alvarado (jaime.gallardo@itcelaya.edu.mx)2, Ramón Rodríguez Castro (ramon.rodriguez@itcelaya.edu.mx)2, Luis A. Alcaraz Caracheo (alejandro.alcaraz@itcelaya.edu.mx)2

1Universidad de Guanajuato
2Instituto Tecnológico de Celaya

This paper appears in: Revista IEEE América Latina

Publication Date: May 2017
Volume: 15,   Issue: 5 
ISSN: 1548-0992

This work reports on the kinematic analyses of a novel robot manipulator composed of a three-degrees-of-freedom parallel manipulator endowed with a central kinematic chain whose function is to provide a yaw freedom to the end-effector platform. Semi-closed form solutions to solve the displacement analysis are easily obtained owing the decoupled motions of the robot. After, the input-output equations of velocity and acceleration are obtained by resorting to the theory of screws. A numerical example is provided in order to show the application of the method. As far as the authors are aware, the combination of an inversion of a zero-torsion mechanism with the architecture of the central kinematic chain here proposed has not been considered in previous works.

Index Terms:
Parallel manipulator, Decoupled motion, Yaw freedom, Screw theory, Kinematics   

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