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 |
| _version_ | 1818440015073509376 |
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| author | Jaime Gallardo-Alvarado |
| author_facet | Jaime Gallardo-Alvarado |
| author_sort | Jaime Gallardo-Alvarado |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-14T18:05:38Z |
| format | Article |
| id | doaj.art-390fb7df2c0c438aa317fe8bb6278886 |
| institution | Directory Open Access Journal |
| issn | 0120-5609 2248-8723 |
| language | English |
| last_indexed | 2024-12-14T18:05:38Z |
| publishDate | 2015-01-01 |
| publisher | Universidad Nacional de Colombia |
| record_format | Article |
| series | Ingeniería e Investigación |
| spelling | doaj.art-390fb7df2c0c438aa317fe8bb62788862022-12-21T22:52:22ZengUniversidad Nacional de ColombiaIngeniería e Investigación0120-56092248-87232015-01-0135151110.15446/ing.investig.v35n1.4400039655Kinematics of an actuating mechanism for a telescoping antennaJaime Gallardo-Alvarado0Instituto Tecnologico de CelayaIn 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.https://revistas.unal.edu.co/index.php/ingeinv/article/view/44000Serial manipulatorKinematicsScrew Theory |
| spellingShingle | Jaime Gallardo-Alvarado Kinematics of an actuating mechanism for a telescoping antenna Ingeniería e Investigación Serial manipulator Kinematics Screw Theory |
| title | Kinematics of an actuating mechanism for a telescoping antenna |
| title_full | Kinematics of an actuating mechanism for a telescoping antenna |
| title_fullStr | Kinematics of an actuating mechanism for a telescoping antenna |
| title_full_unstemmed | Kinematics of an actuating mechanism for a telescoping antenna |
| title_short | Kinematics of an actuating mechanism for a telescoping antenna |
| title_sort | kinematics of an actuating mechanism for a telescoping antenna |
| topic | Serial manipulator Kinematics Screw Theory |
| url | https://revistas.unal.edu.co/index.php/ingeinv/article/view/44000 |
| work_keys_str_mv | AT jaimegallardoalvarado kinematicsofanactuatingmechanismforatelescopingantenna |