Análisis Cinemático de un Novedoso Robot Paralelo Reconfigurable
DOI:
https://doi.org/10.1016/j.riai.2015.07.007Palabras clave:
Robot paralelo, Reconfiguración, Cinemática, Teoría de tornillos, Matriz jacobiana, Índice de manipulabilidadResumen
Este trabajo presenta el análisis cinemático de un manipulador reconfigurable integrado por dos sub-manipuladores paralelos que comparten una plataforma móvil. Una solución en forma semi-cerrada para el análisis directo de posición del robot es obtenida tomando ventaja de la geometría no plana de la plataforma móvil, mientras que los análisis de velocidad, aceleración y singularidades son desarrollados por medio de teoría de tornillos. Finalmente se propone una aproximación basada en el índice de manipulabilidad de la matriz jacobiana para determinar la configuración geométrica que optimiza el desempeño del manipulador dada una determinada postura de la plataforma móvil.Descargas
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