An integrated study of the workspace and singularity for a Schönflies parallel manipulator
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| Formato: | Artículo científico |
| Lenguaje: | en |
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Universidad Nacional Autónoma de México
2016
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| _version_ | 1876490429929619456 |
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| author | J. Jesús Cervantes-Sánchez |
| author_facet | J. Jesús Cervantes-Sánchez |
| contents | An integrated study of the workspace and singularity for a Schönflies parallel manipulator J. Jesús Cervantes-Sánchez José María Rico-Martínez Víctor Hugo Pérez-Muñoz Ingeniería Workspace Singularity Schönflies parallel manipulator This paper presents a simple and systematic approach to formulate the inverse position problem of a Schönflies parallel manipulator. As a result, the inverse position problem is solved in closed form and leads directly to the automatic generation of the workspace of the manipulator. Additionally, a systematic velocity analysis is also presented, which allows to detect and characterize all the singularities related to this manipulator. All Rights Reserved © 2016 Universidad Nacional Autónoma de México, Centro de Ciencias Aplicadas y Desarrollo Tecnológico. This is an open access item distributed under the Creative Commons CC License BY-NC-ND 4.0. 2016 artículo científico 1665-6423 https://www.redalyc.org/articulo.oa?id=47444851002 en http://www.redalyc.org/revista.oa?id=474 Journal of Applied Research and Technology application/pdf Universidad Nacional Autónoma de México Journal of Applied Research and Technology (México) Num.1 Vol.14 |
| format | Artículo científico |
| id | redalyc_47444851002 |
| institution | Redalyc |
| language | en |
| publishDate | 2016 |
| publisher | Universidad Nacional Autónoma de México |
| spellingShingle | An integrated study of the workspace and singularity for a Schönflies parallel manipulator J. Jesús Cervantes-Sánchez Ingeniería Workspace Singularity Schönflies parallel manipulator An integrated study of the workspace and singularity for a Schönflies parallel manipulator J. Jesús Cervantes-Sánchez José María Rico-Martínez Víctor Hugo Pérez-Muñoz Ingeniería Workspace Singularity Schönflies parallel manipulator This paper presents a simple and systematic approach to formulate the inverse position problem of a Schönflies parallel manipulator. As a result, the inverse position problem is solved in closed form and leads directly to the automatic generation of the workspace of the manipulator. Additionally, a systematic velocity analysis is also presented, which allows to detect and characterize all the singularities related to this manipulator. All Rights Reserved © 2016 Universidad Nacional Autónoma de México, Centro de Ciencias Aplicadas y Desarrollo Tecnológico. This is an open access item distributed under the Creative Commons CC License BY-NC-ND 4.0. 2016 artículo científico 1665-6423 https://www.redalyc.org/articulo.oa?id=47444851002 en http://www.redalyc.org/revista.oa?id=474 Journal of Applied Research and Technology application/pdf Universidad Nacional Autónoma de México Journal of Applied Research and Technology (México) Num.1 Vol.14 |
| title | An integrated study of the workspace and singularity for a Schönflies parallel manipulator |
| topic | Ingeniería Workspace Singularity Schönflies parallel manipulator |
| url | https://www.redalyc.org/articulo.oa?id=47444851002 |