Finding the Generalized Forces of a Series-Parallel Manipulator

Garcia-Murillo, Mario A.; Gallardo-Alvarado, Jaime; Castillo-Castañeda, Eduardo

doi:10.5772/53824

Cited by 33 publications

(23 citation statements)

References 23 publications

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“…Dyeing parts in toxic environments, working in chemical and radioactive environments (Padula and Perdereau, 2013;Perumaal and Jawahar, 2013), or at depths and pressures at the deep bottom of huge oceans, or conquest of cosmic space and visiting some new exoplanets, are with robots systems possible (Dong et al, 2013) and were turned into from the dream in reality (Garcia et al, 2007), because of use of mechanical platforms sequential gearbox . The man will be able to carry out its mission supreme (Tang et al, 2013;Tong et al, 2013), conqueror of new galaxies (de Melo et al, 2012), because of mechanical systems sequential gear-box (robotics systems) (Garcia-Murillo et al, 2013).…”

Section: Introductionmentioning

confidence: 99%

Serial, Anthropomorphic, Spatial, Mechatronic Systems can be Studied More Simply in a Plan

Petrescu¹,

Aversa²,

Apicella³

et al. 2017

Journal of Mechatronics and Robotics

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Abstract:The mobile, mechatronic, robotic, serial, spatial, anthropomorphic type systems, which are currently the most used in the machine building industry, can be studied much more simply in a plan instead of the usual spatial study. This not only simplifies the understanding of these systems (including from a didactic point of view) but also facilitates computational methods, moving from matrix analytical methods to more simple classical methods. Usage is done by conversion, so nothing is lost from the essence of physic-mathematical phenomena. The idea of moving from spatial to planar study has been centered over time on all major mechanisms when it was possible, precisely for ease of calculation and working methods, but also for a better understanding of physical phenomena. The vast majority of classical mechanisms can be treated as they move in most cases into a master plan. This is the case with known mechanical transmissions, classic motors of all types, working mechanisms, engine or lucrative cars, etc. In anthropomorphic robots, the method is no longer used because they work clearly in a well-defined space. We used the idea to divide this space into a main work plan that can rotate around a main axis so that the study of all movements is done in the workplan and then the rotations of these parameters corresponding to the rotation of the work plane around the main axis of rotation. The physicalmathematical methods are greatly simplified in this way, from matrix difficult calculations to simple, classical analytical calculation methods.

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Section: Introductionmentioning

confidence: 99%

Serial, Anthropomorphic, Spatial, Mechatronic Systems can be Studied More Simply in a Plan

Petrescu¹,

Aversa²,

Apicella³

et al. 2017

Journal of Mechatronics and Robotics

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“…where $ 1 j,i , $ 2 j,i and $ 3 j,i are called partial screws [25,26]. Thus, Equation (25) can be rewritten as follows:…”

Section: Inverse Dynamic Analysismentioning

confidence: 99%

Kinematics and Dynamics of a Translational Parallel Robot Based on Planar Mechanisms

2016

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Abstract:In this contribution, a novel translational parallel robot composed of an arrangement of mechanisms with planar motion is presented. Its mobility is analyzed and the position analysis is solved by using equations derived from mechanical constraints. Furthermore, the analysis of velocity and acceleration are solved by means of the screw theory. For completeness, the inverse dynamics are also presented and solved by means of an interesting combination of the screw theory and the virtual work principle. Finally, a numerical example is included to show the application of the kinematic model, which is verified with the aid of a commercially available software.

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“…This results in the kinematic chain with two open degree of mobility, which can be realized by the two actuators, i.e., the two electric motors mounted on engines couplers A and B or O 2 or O 3 (Garcia-Murillo et al, 2013), (Fig. 5).…”

Section: Structural Schematic Kinematic Chain Plan 2-3mentioning

confidence: 99%

“…The man will be able to carry out its mission supreme-conquer or new galaxies (Aldana et al, 2013;Dong et al, 2013;Flavio de Melo et al, 2012;Lee, 2013;Garcia et al, 2007;He et al, 2013;Liu et al, 2013;Garcia-Murillo et al, 2013;Padula and Perdereau, 2013;Perumaal and Jawahar, 2013;Petrescu and Petrescu, 2011;2012a;2012b;2013;Petrescu et al, 2009;Reddy et al, 2012;Tang et al, 2013;Tong et al, 2013;Wang et al, 2013;Wen et al, 2012), as the systems sequential controls the gearbox.…”

Section: Introductionmentioning

confidence: 99%

Inverse Kinematics at the Anthropomorphic Robots, by a Trigonometric Method

Petrescu¹,

Aversa²,

Akash³

et al. 2017

American Journal of Engineering and Applied Sciences

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Abstract:A robot is a machine especially programmable one through a computer capable of performing a complex series of actions in the automatic mode. Robots may be guided by a control device or external control may be incorporated in the inside. Robots can be built to take human form, but most robots are machines designed to perform a task without taking into account the manner in which it looks. The branch of the technology which is concerned with the design, construction, operation and application of robots, as well as other information systems for their control, the feedback of the touch screen and processing information is quite robotic. These technologies do with automatic machine, which may take the place of the people in hazardous environments or manufacturing processes, or looks like people in appearance, behavior and/or cognitive. Many of the robots of today are inspired by nature which contributes to the field of robotics bio-inspired by it. These robots have created a new branch of robotic (robotic soft). From the time of the ancient civilization there have been many accounts of devices user-configurable automatic and even similar to automatic and people, intended primarily as entertainment. As the mechanical techniques developed by the era of industrial, there were several practical applications, such as automatic machine, remote control and wireless remote control included. Anthropomorphic robots have in their component a plane structure 2R, which is a basic structure. In the reverse (inverse) kinematic, are known the kinematic parameters x M and y M , which represents the co-ordinates of scaling point M (endeffector M) and must be determined by analytical calculation the parameters ϕ 20 and ϕ 30 . First, it determines the intermediary parameters, d and φ with relations (1). For the purpose of determining angles can be used various methods (trigonometric, geometric, etc.), of which will be presented below one of them (as the most representative): A trigonometric method.

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Finding the Generalized Forces of a Series-Parallel Manipulator

Cited by 33 publications

References 23 publications

Serial, Anthropomorphic, Spatial, Mechatronic Systems can be Studied More Simply in a Plan

Serial, Anthropomorphic, Spatial, Mechatronic Systems can be Studied More Simply in a Plan

Kinematics and Dynamics of a Translational Parallel Robot Based on Planar Mechanisms

Inverse Kinematics at the Anthropomorphic Robots, by a Trigonometric Method

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