Resumen
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.
Título traducido de la contribución | Kinematic Analysis of a Novel Reconfigurable Parallel Robot |
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Idioma original | Español |
Páginas (desde-hasta) | 247-257 |
Número de páginas | 11 |
Publicación | RIAI - Revista Iberoamericana de Automatica e Informatica Industrial |
Volumen | 13 |
N.º | 2 |
DOI | |
Estado | Publicada - 1 abr. 2016 |
Publicado de forma externa | Sí |
Palabras clave
- Jacobian matrix
- Kinematics
- Manipulability index
- Parallel robot
- Reconfiguration
- Screw theory