Un nuevo manipulador paralelo de cuatro grados de libertad
(A New Four-Degrees-of-Freedom Parallel Manipulator)
Mario A. Garcia Murillo (firstname.lastname@example.org)1, Jaime Gallardo Alvarado (email@example.com)2, Ramón Rodríguez Castro (firstname.lastname@example.org)2, Luis A. Alcaraz Caracheo (email@example.com)2
1Universidad de Guanajuato2Instituto Tecnológico de Celaya
This paper appears in: Revista IEEE América Latina
Publication Date: May 2017
Volume: 15, Issue: 5
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.
Parallel manipulator, Decoupled motion, Yaw freedom, Screw theory, Kinematics
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