Cinemática de un manipulador configurable por medio de la teoría de tornillos
[EN] This paper addresses the kinematic analysis of a redundant parallel manipulator with a configurable platform equipped with two end-effectors. The closure equations of the position analysis generate a system of quadratic equations which is solved by applying the Newton-homotopy method. Subsequen...
| Autores: | , , |
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| Formato: | artículo |
| Fecha de publicación: | 2020 |
| País: | España |
| Recursos: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | español |
| OAI Identifier: | oai:riunet.upv.es:10251/160619 |
| Acesso em linha: | https://riunet.upv.es/handle/10251/160619 |
| Access Level: | acceso abierto |
| Palavra-chave: | Industrial robotics and robotic manipulators Multibody systems Robot kinematics Robotic systems Cinemática de robots Robot industrial y manipuladores robóticos Sistemas multicuerpo Sistemas robotizados |
| Resumo: | [EN] This paper addresses the kinematic analysis of a redundant parallel manipulator with a configurable platform equipped with two end-effectors. The closure equations of the position analysis generate a system of quadratic equations which is solved by applying the Newton-homotopy method. Subsequently, the instantaneous kinematics of the robot is solved by resorting to the theory of screws. The efficiency of the method is such that the calculation of passive joint rates of the robot is not required form the determination of the input-outputn equation of velocity of the parallel manipulator. Numerical examples are compared with the outcome of a commercial software demonstrating the approach correctness. |
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