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Machines 2016, 4(4), 22;

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

Department of Mechanical Engineering, DICIS, Universidad de Guanajuato, Salamanca 36885, GTO, Mexico
Universidad Nacional de Ingeniería (UNI), Managua 5595, Nicaragua
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)
Full-Text   |   PDF [1290 KB, uploaded 9 November 2016]   |  


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

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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).

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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.

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