Análisis cinemático de un robot paralelo 6-UPUR mediante teoría de tornillos

Hugo Javier Cortés-Ruiz; Manuel Arias-Montiel

doi:10.29057/icbi.v12iEspecial2.12287

Authors

Eng. Universidad Tecnológica de la Mixteca | Oaxaca | México. https://orcid.org/0009-0006-5783-7874
Manuel Arias-Montiel Universidad Tecnológica de la Mixteca | Oaxaca | México. https://orcid.org/0000-0003-4534-9401

DOI:

https://doi.org/10.29057/icbi.v12iEspecial2.12287

Keywords:

Parallel robot, screw theory, kinematic analisys

Abstract

This work presents the kinematic analysis of position and velocity for a six degrees of freedom UPUR parallel robot. Forward and inverse kinematics are obtained from closure vectorial equations which are solved by numerical methods. Equations relating actuators velocities with mobile platform velocities are obtained by using screw theory, which allows skip the passive joints velocity from kinematic analysis. Validity of obtained equations is verified by comparing the numerical results with mechanism simulation carried out in SolidWorks.

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N/A

16%

External funding

No

32%

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N/A

11%

This journal

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Articles accepted

87%

33%

Days to publication

125

145

Indexed in

GS

Editor & editorial board: profiles
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Publisher: Universidad Autónoma del Estado de Hidalgo

References

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