Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
Performance evaluation of spherical parallel platforms for humanoid robots
Year:2007
Research Areas
  • Automatic
Information
Abstract
Abstract: This paper presents a simple methodology for the quantitative and qualitative analysis of the performance of spherical parallel platforms. The quaternion formulation is used to represent the possible rotations, showing the workspace as a three-dimensional (3-D) solid object. The singularities of the platform intersect graphically with its workspace, allowing a graphical study of the mechanism kinematics. The performance criterion considered here has been the local dexterity of the manipulator. This methodology has been used to study and analyze three known orientation parallel platforms: 3-RRR, 3-UPU-wrist, and 2-UPS-1-RU. The objective of this study is to analyze the ability of these platforms to be utilized as mechanisms for the neck and shoulders of humanoid robots. Finally, the forces on actuators in some typical motions for neck and shoulder are plotted.
International
Si
JCR
Si
Title
ROBOTICA
ISBN
0263-5747
Impact factor JCR
0,41
Impact info
Volume
25
Journal number
3
From page
257
To page
267
Month
MAYO
Ranking
Participants
  • Participante: Jose Maria Azorín (Universidad Miguel Hrenández)
  • Autor: Eugenio Yime . (UPM)
  • Autor: Rafael Aracil Santonja (UPM)
  • Participante: Jose Maria Sabater (Universidad Miguel Hrenández)
  • Autor: Roque Jacinto Saltaren Pazmiño (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robots y máquinas inteligentes
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
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