Análisis Cinemático de un Novedoso Robot Paralelo Reconfigurable

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

Resumen

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.

Palabras clave

Robot paralelo; Reconfiguración; Cinemática; Teoría de tornillos; Matriz jacobiana; Índice de manipulabilidad

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1. Uso de Plataformas para el Desarrollo de Aplicaciones Virtuales en el Modelado de Robot Manipuladores
Róger E. Sánchez-Alonso, Jorge Ortega-Moody, José-Joel González-Barbosa, Guillermo Reyes-Morales
Revista Iberoamericana de Automática e Informática Industrial RIAI  vol: 14  num.: 3  primera página: 279  año: 2017  
doi: 10.1016/j.riai.2017.04.001



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Universitat Politècnica de València     https://doi.org/10.4995/riai

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