Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory

Gallardo-Alvarado, Jaime; Aguilar-Nájera, C. R.; Casique-Rosas, L.; Pérez-González, L.; Rico-Martínez, José M.

doi:10.1007/s11044-008-9121-7

Cited by 65 publications

(29 citation statements)

References 40 publications

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“…where 1 R 0 is the rotation matrix of the fixed platform with respect to the coupler platform, which can be computed using the method introduced in Gallardo-Alvarado et al 22 Finally, taking into account that…”

Section: Forward Displacement Analysismentioning

confidence: 99%

A novel three degrees of freedom partially decoupled robot with linear actuators

2011

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SUMMARYIn this work, a new translational robot formed with two different parallel manipulators with a common control point is introduced. An asymmetric parallel manipulator provides three translational degrees of freedom to the proposed robot while the orientation of the end-effector platform is kept constant by means of a Delta-like manipulator. An exact solution is easily derived to solve the forward displacement analysis while a semi-closed form solution is available for solving the inverse displacement analysis. The infinitesimal kinematics of the robot is approached by applying the theory of screws. Finally, a numerical example that consists of solving the inverse/forward displacement analysis as well as the forward acceleration analysis of the end-effector platform is presented. The example also includes the computation of the workspace and the direct/inverse singularities of the example.

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Section: Forward Displacement Analysismentioning

confidence: 99%

A novel three degrees of freedom partially decoupled robot with linear actuators

2011

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“…where A R B is the rotation matrix which is computed by means of the coordinates of the points S i (i = 1, 2, 3), for details see Gallardo-Alvarado et al (2008). Following a similar procedure, the homogeneous transformation matrix of the end-effector-platform with respect to the fixed platform, …”

Section: Forward Position Analysismentioning

confidence: 99%

DeLiA: a New Family of Redundant Robot Manipulators

Gallardo-Alvarado¹

2010

Advanced Strategies for Robot Manipulators

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“…Currently, the more popular approach to achieving the dynamic model of parallel robots is the use of the virtual work principle [9][10][11][12][15][16][17][18], which avoids the calculation of the internal reactions in the mechanism. In addition, the combination of this principle and screw theory significantly simplifies the model [17,18].…”

Section: Introductionmentioning

confidence: 99%

“…In addition, the combination of this principle and screw theory significantly simplifies the model [17,18].…”

Section: Introductionmentioning

confidence: 99%

Finding the Generalized Forces of a Series-Parallel Manipulator

Garcia-Murillo¹,

Gallardo-Alvarado

Castillo-Castañeda³

2013

International Journal of Advanced Robotic Systems

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In this work the kinematic and dynamic analyses of a robot manipulator whose topology consists of parallel kinematic structures with linear actuators are approached by means of the theory of screws and the principle of virtual work. The input/output equations of velocity and acceleration are obtained by applying screw theory. Then the generalized forces of the manipulator are determined combining screw theory and the principle of virtual work. Finally, a case study, whose numerical results are compared with simulations generated with the aid of specialized software, is included.

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Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory

Cited by 65 publications

References 40 publications

A novel three degrees of freedom partially decoupled robot with linear actuators

A novel three degrees of freedom partially decoupled robot with linear actuators

DeLiA: a New Family of Redundant Robot Manipulators

Finding the Generalized Forces of a Series-Parallel Manipulator

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