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Design, Assembly and Working Modes of Spherical 3-RRR Coaxial Parallel Robot

dc.contributor.authorMarrugo, D.
dc.contributor.authorVitola, A.
dc.contributor.authorVilla, J.L.
dc.contributor.authorRodelo, M.
dc.date.accessioned2023-07-21T15:44:06Z
dc.date.available2023-07-21T15:44:06Z
dc.date.issued2021
dc.date.submitted2023
dc.identifier.citationMarrugo, D., Vitola, A., Villa, J. L., & Rodelo, M. (2021, October). Design, Assembly and Working Modes of Spherical 3-RRR Coaxial Parallel Robot. In 2021 IEEE 5th Colombian Conference on Automatic Control (CCAC) (pp. 163-168). IEEE.spa
dc.identifier.urihttps://hdl.handle.net/20.500.12585/12279
dc.description.abstractDesign, configuration and operation modes of spherical 3-_RRR coaxial parallel robot were performed. A mathematical analysis of the robot was made, which consists of inverse and forward kinematic using geometric and numerical methods respectively, using MATLAB environment. Based on the above, eight possible operation and configuration modes were derived. The proposed approach demonstrates that a unique solution for the specific configuration and operation mode of a coaxial robot can be calculated. Moreover, mechanical design of the robot prototype was performed in the SolidWorks design program presented in detail for experimental verification of the performed numerical and simulation analyses. Results obtained from this work can be implemented in the development of real time orientation control systems for coaxial robots. As future works, an analysis of singularities, performance and dynamic will be carried out. © 2021 IEEE.spa
dc.format.extent5 páginas
dc.format.mimetypeapplication/pdfspa
dc.language.isoengspa
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.sourceProceedings of the 2021 IEEE 5th Colombian Conference on Automatic Control, CCAC 2021spa
dc.titleDesign, Assembly and Working Modes of Spherical 3-RRR Coaxial Parallel Robotspa
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datacite.rightshttp://purl.org/coar/access_right/c_abf2spa
oaire.versionhttp://purl.org/coar/version/c_b1a7d7d4d402bccespa
dc.type.driverinfo:eu-repo/semantics/articlespa
dc.type.hasversioninfo:eu-repo/semantics/draftspa
dc.identifier.doi10.1109/CCAC51819.2021.9633325
dc.subject.keywordsParallel Manipulator;spa
dc.subject.keywordsStewart Platform;spa
dc.subject.keywordsBiomechanicsspa
dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.rights.ccAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.identifier.instnameUniversidad Tecnológica de Bolívarspa
dc.identifier.reponameRepositorio Universidad Tecnológica de Bolívarspa
dc.publisher.placeCartagena de Indiasspa
dc.subject.armarcLEMB
dc.type.spahttp://purl.org/coar/resource_type/c_6501spa
oaire.resourcetypehttp://purl.org/coar/resource_type/c_6501spa


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Universidad Tecnológica de Bolívar - 2017 Institución de Educación Superior sujeta a inspección y vigilancia por el Ministerio de Educación Nacional. Resolución No 961 del 26 de octubre de 1970 a través de la cual la Gobernación de Bolívar otorga la Personería Jurídica a la Universidad Tecnológica de Bolívar.