Published

2015-01-01

Kinematics of an actuating mechanism for a telescoping antenna

Cinemática de un mecanismo actuador para una antena telescópica

Keywords:

Serial manipulator, Kinematics, Screw Theory (en)
Manipulador serial, Cinemática, Teoría de Tornillos (es)

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Authors

  • Jaime Gallardo-Alvarado Instituto Tecnologico de Celaya

In this work the position, velocity and acceleration analyses of a four-degrees-of-freedom serial manipulator are approached mainly by means of the theory of screws. Closed-form solutions are easily obtained for the displacement analysis of the mechanism owing the decoupled action of the generalized coordinates, while the input-output equations of velocity and acceleration of the manipulator are systematically obtained by means of the theory of screws. A case study is included with the purpose to exemplify the application of the method.

En este trabajo los análisis de posición, velocidad y aceleración de un manipulador serial de cuatro grados de libertad se abordan principalmente por medio de la teoría de tornillos. El análisis de posición es resuelto en forma cerrada debido a la acción desacoplada de las coordenadas generalizadas mientras que las ecuaciones entrada salida de velocidad y aceleración del manipulador son obtenidas sistemáticamente por medio de la teoría de tornillos. Con el propósito de ejemplificar el método se proporciona un caso de estudio.

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Copyright (c) 2015 Jaime Gallardo-Alvarado

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