Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/11715/960
Título : Dimensional Synthesis of 3RRR Planar Parallel Robots for Well-Conditioned Workspace
Autor : Cardona, Manuel
Palabras clave : Paralell Robot
Inverse Kinematic
Workspace
Screw Theory
Twist
Wrench
Jacobian Matrix
Singularity
Fecha de publicación : nov-2015
Editorial : © IEEE
Citación : Cardona, Manuel. (2015). A new Approach for the Forward Kinematics of General Stewart-Gough Platforms. IEEE Thirty-fifth Convention of Central America and Panama (CONCAPAN XXXV). Tegucigalpa, Honduras.
Resumen : In this paper an exhaustive singularity analysis of a 3RRR planar parallel robot is performed. The Jacobian matrix using the Screw theory is obtained and an effective method for singular configurations analysis based on a condition index of the Jacobian matrix is presented. Finally, a new similarity law that allows the workspace optimization free of singular configurations and the working mode selection is presented. Furthermore, MATLAB as a testing tool and programming language is used.
URI : http://hdl.handle.net/11715/960
ISSN : 1548-0992
Aparece en las colecciones: Producción científica de la Universidad Don Bosco

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