KINEMATICS ANALYSIS OF A PARALLEL ROBOT WITH A PASSIVE SEGMENT ANÁLISIS DE LA CINEMÁTICA DE UN ROBOT PARALELO CON UN SEGMENTO PASIVO

KINEMATICS ANALYSIS OF A PARALLEL ROBOT WITH A PASSIVE SEGMENT ANÁLISIS DE LA CINEMÁTICA DE UN ROBOT PARALELO CON UN SEGMENTO PASIVO

This paper presents a geometrical model of a constrained robot of three degrees of freedom (d.o.f) added to a PPP passive central segment. This structure provides a pure translation motion. We will also determine the relations between generalized and articular velocities by using the inverse Jacobia...

Full description

Bibliographic Details
Main Authors: Abdelhakim Cherfia, Abdelouahab Zaatri, Max Giordano
Format: Article
Language:English
Published: Universidad de Tarapacá 2007-08-01
Series:Ingeniare: Revista Chilena de Ingeniería
Subjects:
Modelo geométrico
manipulador paralelo
segmento pasivo
matriz Jacobiana
espacio de trabajo
singularidad
Geometrical model
parallel manipulator
passive segment
Jacobian matrix
workspace
singularity
Online Access:http://www.scielo.cl/scielo.php?script=sci_arttext&pid=S0718-33052007000200004

Internet

http://www.scielo.cl/scielo.php?script=sci_arttext&pid=S0718-33052007000200004

Similar Items