Kinematics of an actuating mechanism for a telescoping antenna
In this work the position, velocity and acceleration analyses of a four-degrees-of-freedom serial manipulator are approached mainly by means of the theory of screws. Closed-form solutions are easily obtained for the displacement analysis of the mechanism owing the decoupled action of the generalized...
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| Format: | Article |
| Language: | English |
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Universidad Nacional de Colombia
2015-01-01
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| Series: | Ingeniería e Investigación |
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| Online Access: | https://revistas.unal.edu.co/index.php/ingeinv/article/view/44000 |
| Summary: | In this work the position, velocity and acceleration analyses of a four-degrees-of-freedom serial manipulator are approached mainly by means of the theory of screws. Closed-form solutions are easily obtained for the displacement analysis of the mechanism owing the decoupled action of the generalized coordinates, while the input-output equations of velocity and acceleration of the manipulator are systematically obtained by means of the theory of screws. A case study is included with the purpose to exemplify the application of the method. |
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| ISSN: | 0120-5609 2248-8723 |