Type synthesis of kinematically redundant parallel manipulators based on the HEXA parallel robot

Raymundo Ramos Alvarado; Eduardo Castillo Castañeda

doi:10.1007/978-3-030-00365-4_27

Type synthesis of kinematically redundant parallel manipulators based on the HEXA parallel robot

Raymundo Ramos Alvarado, Eduardo Castillo Castañeda

Centro de Investigación en Ciencia Aplicada y Tecnología Avanzada (CICATA), Unidad Querétaro

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

3 Scopus citations

Abstract

Type synthesis is a key issue in the design process due to critical parameters which affects the mobility and performance of any kind of mechanism. In this paper, it is proposed structural synthesis of kinematically redundant parallel manipulators based on the HEXA parallel robot using graph theory and theory of linear transformations. The solutions proposed in this paper include a multilevel location of the actuated joints by means of a reconfigurable fixed base. The most suitable solution is selected taking into consideration the manipulator workspace.

Original language	English
Pages (from-to)	227-234
Number of pages	8
Journal	Mechanisms and Machine Science
Volume	66
DOIs	https://doi.org/10.1007/978-3-030-00365-4_27
State	Published - 2019

Keywords

Graph theory
Reconfigurable mechanism
Type synthesis
Workspace

Access to Document

10.1007/978-3-030-00365-4_27

Cite this

@article{869cc6d6cb9c4dee8f67b9801c5718e5,

title = "Type synthesis of kinematically redundant parallel manipulators based on the HEXA parallel robot",

abstract = "Type synthesis is a key issue in the design process due to critical parameters which affects the mobility and performance of any kind of mechanism. In this paper, it is proposed structural synthesis of kinematically redundant parallel manipulators based on the HEXA parallel robot using graph theory and theory of linear transformations. The solutions proposed in this paper include a multilevel location of the actuated joints by means of a reconfigurable fixed base. The most suitable solution is selected taking into consideration the manipulator workspace.",

keywords = "Graph theory, Reconfigurable mechanism, Type synthesis, Workspace",

author = "{Ramos Alvarado}, Raymundo and {Castillo Casta{\~n}eda}, Eduardo",

note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.",

year = "2019",

doi = "10.1007/978-3-030-00365-4_27",

language = "Ingl{\'e}s",

volume = "66",

pages = "227--234",

journal = "Mechanisms and Machine Science",

issn = "2211-0984",

publisher = "Springer Netherlands",

}

TY - JOUR

T1 - Type synthesis of kinematically redundant parallel manipulators based on the HEXA parallel robot

AU - Ramos Alvarado, Raymundo

AU - Castillo Castañeda, Eduardo

PY - 2019

Y1 - 2019

N2 - Type synthesis is a key issue in the design process due to critical parameters which affects the mobility and performance of any kind of mechanism. In this paper, it is proposed structural synthesis of kinematically redundant parallel manipulators based on the HEXA parallel robot using graph theory and theory of linear transformations. The solutions proposed in this paper include a multilevel location of the actuated joints by means of a reconfigurable fixed base. The most suitable solution is selected taking into consideration the manipulator workspace.

AB - Type synthesis is a key issue in the design process due to critical parameters which affects the mobility and performance of any kind of mechanism. In this paper, it is proposed structural synthesis of kinematically redundant parallel manipulators based on the HEXA parallel robot using graph theory and theory of linear transformations. The solutions proposed in this paper include a multilevel location of the actuated joints by means of a reconfigurable fixed base. The most suitable solution is selected taking into consideration the manipulator workspace.

KW - Graph theory

KW - Reconfigurable mechanism

KW - Type synthesis

KW - Workspace

UR - http://www.scopus.com/inward/record.url?scp=85052837765&partnerID=8YFLogxK

U2 - 10.1007/978-3-030-00365-4_27

DO - 10.1007/978-3-030-00365-4_27

M3 - Artículo

AN - SCOPUS:85052837765

SN - 2211-0984

VL - 66

SP - 227

EP - 234

JO - Mechanisms and Machine Science

JF - Mechanisms and Machine Science

ER -

Type synthesis of kinematically redundant parallel manipulators based on the HEXA parallel robot

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this