Asymmetric reconfiguration of a 3-dof parallel manipulator

Authors

  • A. L. Balmaceda-Santamaría Universidad Nacional de Ingeniería. Facultad de Tecnología de la Industria, Instituto de Estudios Superiores. Managua, Nicaragua.
  • A. E. Chávez-Toruño Universidad Nacional de Ingeniería. Facultad de Ciencias y Sistemas, Departamento de Informática. Managua, Nicaragua

DOI:

https://doi.org/10.5377/nexo.v33i01.10053

Keywords:

Parallel manipulator, Performance index, Reconfigurable robot, Screw theory, Workspace

Abstract

In this paper an asymmetric reconfigurable parallel manipulator is presented. Asymmetric configurations are obtained by modifying the angle between each of the kinematic chains. Thanks to the reconfiguration proposal significant improvement of the manipulator performance can be obtained with respect to a Delta-type parallel robot. The computation of the best condition number is obtained, the results show that by using the redundancy, all the performance indices that depend on the Jacobian matrix can be improved as well.

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Published

2020-07-20

How to Cite

Balmaceda-Santamaría, A. L., & Chávez-Toruño, A. E. (2020). Asymmetric reconfiguration of a 3-dof parallel manipulator. Nexo Scientific Journal, 33(01), 137–147. https://doi.org/10.5377/nexo.v33i01.10053

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