Artículos en revistas:
Dimensional synthesis of a spherical parallel manipulator based on the evaluation of global performance indexes
Dimensional synthesis of a spherical parallel manipulator based on the evaluation of global performance indexes
Año:2012
Áreas de investigación
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Ingeniería mecánica, aeronaútica y naval, -
Automática
Datos
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Descripción
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| In this work, the dimensional synthesis of a spherical Parallel Manipulator (PM) with a -1S kinematic chain is presented. The goal of the synthesis is to find a set of parameters that defines the PM with the best performance in terms of workspace capabilities, dexterity and isotropy. The PM is parametrized in terms of a reference element, and a non-directed search of these parameters is carried out. First, the inverse kinematics and instantaneous kinematics of the mechanism are presented. The latter is found using the screw theory formulation. An algorithm that explores a bounded set of parameters and determines the corresponding value of global indexes is presented. The concepts of a novel global performance index and a compound index are introduced. Simulation results are shown and discussed. The best PMs found in terms of each performance index evaluated are locally analyzed in terms of its workspace and local dexterity. The relationship between the performance of the PM and its parameters is discussed, and a prototype with the best performance in terms of the compound index is presented and analyzed. | |
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Internacional
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JCR del ISI
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Título de la revista
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Robotics and Autonomous Systems |
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ISSN
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0921-8890 |
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Factor de impacto JCR
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1,313 |
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Información de impacto
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Volumen
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60 |
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DOI
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10.1016/j.robot.2012.05.013 |
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Número de revista
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8 |
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Desde la página
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1037 |
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Hasta la página
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1045 |
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Mes
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AGOSTO |
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Ranking
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Ver publicación en Archivo digital upm
Participantes
- Autor: Lisandro Jose Puglisi . (UPM)
- Autor: Roque Jacinto Saltaren Pazmiño (UPM)
- Autor: Hector Moreno Avalos (UPM)
- Autor: Pedro Fabian Cardenas Herrera (UPM)
- Autor: Cecilia Elisabet Garcia Cena (UPM)
- Autor: Rafael Aracil Santonja (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
- Creador: Grupo de Investigación: Robots y máquinas inteligentes
- Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
- Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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