Asymmetric reconfiguration of a 3-dof parallel manipulator
DOI:
https://doi.org/10.5377/nexo.v33i01.10053Keywords:
Parallel manipulator, Performance index, Reconfigurable robot, Screw theory, WorkspaceAbstract
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.
Downloads
Download data is not yet available.
Abstract
593
593
PDF 541
Downloads
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
Issue
Section
Articles
License
The authors who publish in Nexo Scientific Journal agree to the following terms:
- Authors retain the copyright and grant the journal the right of the first publication under the license Creative Commons Attribution License, which allows others to share the work with a recognition of the authorship of the work and the initial publication in Nexo Scientific Journal.
- Authors may separately establish additional agreements for the non-exclusive distribution of the version of the work published in the journal (for example, in an institutional repository or a book), with the recognition of the initial publication in Nexo Scientific Journal.
- Authors are allowed and encouraged to disseminate their works electronically (for example, in institutional repositories or in their own website) before and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published works.
