Revista Iberoamericana de Automática e Informática industrial
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Cinemática de un manipulador configurable por medio de la teoría de tornillos
Resumen
En este trabajo se aborda el análisis cinemático de un m manipulador redundante con una plataforma configurable equipada con dos efectores finales. Las ecuaciones de clausura del análisis de posición generan un sistema de ecuaciones cuadráticas el cual se resuelve aplicando Newton-homotopía. Posteriormente, la cinemática instantánea del robot se resuelve recurriendo a la teoría de tornillos. La eficiencia del método es tal que no se requiere del cálculo de las velocidades articulares pasivas del robot para la determinación de la ecuación entrada-salida de velocidad del manipulador paralelo. Ejemplos numéricos se comparan con los resultados de un software comercial lo cual demuestra veracidad del método.
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