A Novel Monitoring System for Contagious Diseases of Patients using a Parallel Planar Robot

Ordonez-Avila, Jose Luis; Cardona, Manuel; Aguilar, Douglas Adalberto; Ordonez, Marcial; Garzón‐Castro, Claudia L.

doi:10.1109/icmlant56191.2022.9996485

Cited by 6 publications

(5 citation statements)

References 19 publications

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“…The presented algorithm offers two alternatives: the traditional one, which requires knowledge of the orientation phi of the end-effector and is used in various applications as pick and place [37,38], or medical rehabilitation [39,40]. There is also an alternative that eliminates the need to know this orientation, using instead an optimization method, useful in monitoring applications like conventional or thermal cameras [41]. This means that the similarity law of planar 3RRR robots reduces the number of singularities obtained in kinematic models.…”

Section: Discussionmentioning

confidence: 99%

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Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Cardona,

Canales-Verdial

et al. 2024

Symmetry

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Existing direct and inverse kinematic models of planar parallel robots assume that the robot’s active joints are all at the bases. However, this approach becomes excessively complex when modeling a planar parallel robot in which the active joints are within one single kinematic chain. To address this problem, our article unveils an alternative for a 3RRR symmetric planar robot modeling technique for the derivation of the robot workspace and the analysis of its direct and inverse kinematics. The workspace was defined using a system of inequalities, and the direct and inverse kinematics models were generated using vectorial analysis and an optimized geometrical approach, respectively. The resulting models are systematically presented and validated. Two final model renditions are delivered supplying a thorough equation analysis and an applicability discussion based on the importance of the robot’s mobile platform orientation. The advantages of this model are discussed in comparison to the traditional modeling approach: whereas conventional techniques require the solution of complex eighth-degree polynomials for the analysis of the active joint configuration of these robots, these models provide an efficient back-of-the-envelope analysis approach that requires the solution of a simple second-degree polynomial.

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Section: Discussionmentioning

confidence: 99%

“…Isolating for P a in (41) and P b in Equation ( 42), the required values would be found to have the complete inverse kinematics considering the orientation ϕ (43) and (44):…”

Section: Solution For P a And P Bmentioning

confidence: 99%

Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Cardona,

Canales-Verdial

et al. 2024

Symmetry

Self Cite

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“…Table 7, 8, and 9 summarizes the mechanical properties of an PF (Phenol-Formaldehyde) matrix loaded with cellulose particles (pine needle & Grewia optiva) and cellulose-based copolymers (Methyl Acrylate graft onto Grewia optiva) respectively. 5.80E+07 Table 5, and Figure 1 YIELD STRENGTH (N/M 2 ) 6.50E+06 Table 5, and Figure 1 Ordoñez et al proved efficacy of Solidworks to validate models and predictions of a system [21]. Based on the methodology presented by Ordoñez et al, and the summarized information in the tables shown in this communication, different simulations were performed in Solidworks.…”

Section: Chemical Resistancementioning

confidence: 96%

Enhancing The Properties of Cellulose-Based Polymers for Potential Use In Membrane Applications: A Literature Review

Sierra¹

2023

Proceedings of the 21th LACCEI International Multi-Conference for Engineering, Education and Technology (LACCEI 2023): “Leaders

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“…As a result of the trajectory of the SCARA robotic arm represented in joint matrices in equation ( 1), which when multiplied we obtain the resulting matrix of the DH parameters resulting in equation (8).…”

Section: Control System Based On Kinematicsmentioning

confidence: 99%

“…The DH transforms are composed of pure rotation and pure translation matrices, which can be represented as follows: Ti− i 1 = Rxi−1(αi−1), Txi−1(αi−1), Tzi(di), Rzi(θi). Often for simulation and verification of the direct and inverse kinematics, tools like MATLAB Robotic Toolbox are used [8,9].…”

Section: Introductionmentioning

confidence: 99%

Cinematic Design and Force Analysis of a SCARA Robot with Pneumatic Actuators

Mencia,

Ramos,

Nuñez

et al. 2023

Proceedings of the 21th LACCEI International Multi-Conference for Engineering, Education and Technology (LACCEI 2023): “Leaders

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The use of pneumatics applied to industry is greatly favored by its great availability and for being a non-polluting fluid, thus having a potential to replace other systems in the industry. In the field of industrial robotics, a robotic arm with pneumatic servomotors is rarely designed, as there are few studies about it. This technology being a closed loop repetitive control system with feedback makes feasible its implementation for processes in the industry. Since there are few pneumatic industrial robots, this study seeks to design a prototype with an analysis for the precise control of the positions and reduce the nonlinear randomness of the pneumatic system, through the resolution of the kinematics, which will provide necessary information on the mechanical adjustments in the pneumatic servomotors for a required application as well as the interpretation of transmission simulations. This study provides a manufacturing model of a fully pneumatic and functional robotic prototype, opening the field for future research on pneumatic control applied to industrial robotics.

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A Novel Monitoring System for Contagious Diseases of Patients using a Parallel Planar Robot

Cited by 6 publications

References 19 publications

Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Enhancing The Properties of Cellulose-Based Polymers for Potential Use In Membrane Applications: A Literature Review

Cinematic Design and Force Analysis of a SCARA Robot with Pneumatic Actuators

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