Next Article in Journal
Self-Organization and Self-Coordination in Welding Automation with Collaborating Teams of Industrial Robots
Next Article in Special Issue
Study on the Kinematic Performances and Optimization for Three Types of Parallel Manipulators
Previous Article in Journal / Special Issue
Study on Payload Effects on the Joint Motion Accuracy of Serial Mechanical Mechanisms
Article Menu

Export Article

Open AccessArticle
Machines 2016, 4(4), 22; doi:10.3390/machines4040022

Kinematics and Dynamics of a Translational Parallel Robot Based on Planar Mechanisms

1
Department of Mechanical Engineering, DICIS, Universidad de Guanajuato, Salamanca 36885, GTO, Mexico
2
Universidad Nacional de Ingeniería (UNI), Managua 5595, Nicaragua
3
Department of Mechanical Engineering, Instituto Tecnológico de Celaya, Celaya 38010, GTO, Mexico
*
Author to whom correspondence should be addressed.
Academic Editor: Dan Zhang
Received: 31 August 2016 / Revised: 16 October 2016 / Accepted: 20 October 2016 / Published: 9 November 2016
(This article belongs to the Special Issue Robotic Machine Tools)
View Full-Text   |   Download PDF [1290 KB, uploaded 9 November 2016]   |  

Abstract

In this contribution, a novel translational parallel robot composed of an arrangement of mechanisms with planar motion is presented. Its mobility is analyzed and the position analysis is solved by using equations derived from mechanical constraints. Furthermore, the analysis of velocity and acceleration are solved by means of the screw theory. For completeness, the inverse dynamics are also presented and solved by means of an interesting combination of the screw theory and the virtual work principle. Finally, a numerical example is included to show the application of the kinematic model, which is verified with the aid of a commercially available software. View Full-Text
Keywords: parallel robot; planar mechanism; kinematics; screw theory; dynamics parallel robot; planar mechanism; kinematics; screw theory; dynamics
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Garcia-Murillo, M.A.; Sanchez-Alonso, R.E.; Gallardo-Alvarado, J. Kinematics and Dynamics of a Translational Parallel Robot Based on Planar Mechanisms. Machines 2016, 4, 22.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Machines EISSN 2075-1702 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top