Análisis Cinemático de un Novedoso Robot Paralelo Reconfigurable

Róger E. Sánchez-Alonso; José Joel González-Barbosa; Eduardo Castillo-Castañeda; Mario A. García-Murillo

doi:10.1016/j.riai.2015.07.007

Análisis Cinemático de un Novedoso Robot Paralelo Reconfigurable

Translated title of the contribution: Kinematic Analysis of a Novel Reconfigurable Parallel Robot

Róger E. Sánchez-Alonso, José Joel González-Barbosa, Eduardo Castillo-Castañeda, Mario A. García-Murillo

Research output: Contribution to journal › Article › peer-review

8 Scopus citations

Abstract

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.

Translated title of the contribution	Kinematic Analysis of a Novel Reconfigurable Parallel Robot
Original language	Spanish
Pages (from-to)	247-257
Number of pages	11
Journal	RIAI - Revista Iberoamericana de Automatica e Informatica Industrial
Volume	13
Issue number	2
DOIs	https://doi.org/10.1016/j.riai.2015.07.007
State	Published - 1 Apr 2016
Externally published	Yes

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title = "An{\'a}lisis Cinem{\'a}tico de un Novedoso Robot Paralelo Reconfigurable",

abstract = "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.",

keywords = "Jacobian matrix, Kinematics, Manipulability index, Parallel robot, Reconfiguration, Screw theory",

author = "S{\'a}nchez-Alonso, {R{\'o}ger E.} and Gonz{\'a}lez-Barbosa, {Jos{\'e} Joel} and Eduardo Castillo-Casta{\~n}eda and Garc{\'i}a-Murillo, {Mario A.}",

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doi = "10.1016/j.riai.2015.07.007",

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T1 - Análisis Cinemático de un Novedoso Robot Paralelo Reconfigurable

AU - Sánchez-Alonso, Róger E.

AU - González-Barbosa, José Joel

AU - Castillo-Castañeda, Eduardo

AU - García-Murillo, Mario A.

PY - 2016/4/1

Y1 - 2016/4/1

N2 - 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.

AB - 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.

KW - Jacobian matrix

KW - Kinematics

KW - Manipulability index

KW - Parallel robot

KW - Reconfiguration

KW - Screw theory

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U2 - 10.1016/j.riai.2015.07.007

DO - 10.1016/j.riai.2015.07.007

M3 - Artículo

SN - 1697-7912

VL - 13

SP - 247

EP - 257

JO - RIAI - Revista Iberoamericana de Automatica e Informatica Industrial

JF - RIAI - Revista Iberoamericana de Automatica e Informatica Industrial

IS - 2

ER -

Análisis Cinemático de un Novedoso Robot Paralelo Reconfigurable

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