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Memorias de investigación
Artículos en revistas:
RotationalWorkspace Expansion of a Planar CDPR with a Circular End-Effector Mechanism Allowing Passive Reconfiguration
Año:2019
Áreas de investigación
  • Ingenierías
Datos
Descripción
In the present work, the expansion of the orientation Wrench FeasibleWorkspace (WFW) in a planar four-cable passive reconfigurable parallel robot with three degrees of freedom was determined. To this end, we proposed a circular-geometry e ector mechanism, whose structure allows automatic mobility of the two anchor points of the cables supporting the End E ector (EE). The WFW of the proposed circular structure robot was compared with that of a traditional robot with a rectangular geometry and fixed anchor points. Considering the feasible geometric and tension forces on the cables, the generated workspace volume of the robot was demonstrated in an analysis-by-intervals. The results were validated by simulating the orientation movements of the robot in ADAMS software and a real experimental test was developed for a hypothetical case. The proposed design significantly expanded the orientation workspace of the robot. The remaining limitation is the segment of the travel space in which the mobile connection points can slide. Overcoming this limitation would enable the maximum rotation of the EE.
Internacional
Si
JCR del ISI
Si
Título de la revista
Robotics
ISSN
2218-6581
Factor de impacto JCR
Información de impacto
Volumen
DOI
10.3390/robotics8030057
Número de revista
8
Desde la página
57
Hasta la página
77
Mes
JULIO
Ranking
CITESCORE 2.5 SCOPUS CiteScore - Q2 (Control and Optimization)
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Marco Alexander Carpio Aleman (UPM)
  • Autor: Roque Jacinto Saltaren Pazmiño (UPM)
  • Autor: Alejandro Rodriguez Barroso (UPM)
  • Autor: Gerardo Alejandro Portilla Tuesta (UPM)
  • Autor: Juan Diego Placencia (Universidad Politécnica Salesiana)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
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