Published

2015-01-01

Kinematics of an actuating mechanism for a telescoping antenna

Cinemática de un mecanismo actuador para una antena telescópica

DOI:

https://doi.org/10.15446/ing.investig.v35n1.44000

Keywords:

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

Downloads

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.

Dimensions

PlumX

Article abstract page views

972

Downloads

Download data is not yet available.

How to Cite

Kinematics of an actuating mechanism for a telescoping antenna. (2015). Ingeniería E Investigación, 35(1), 5-11. https://doi.org/10.15446/ing.investig.v35n1.44000
Crossref
Scopus
Google Scholar
Europe PMC

License

Copyright (c) 2015 Jaime Gallardo-Alvarado

Creative Commons License

This work is licensed under a Creative Commons Attribution 4.0 International License.

The authors or holders of the copyright for each article hereby confer exclusive, limited and free authorization on the Universidad Nacional de Colombia's journal Ingeniería e Investigación concerning the aforementioned article which, once it has been evaluated and approved, will be submitted for publication, in line with the following items:

1.    The version which has been corrected according to the evaluators' suggestions will be remitted and it will be made clear whether the aforementioned article is an unedited document regarding which the rights to be authorized are held and total responsibility will be assumed by the authors for the content of the work being submitted to Ingeniería e Investigación, the Universidad Nacional de Colombia and third-parties;

2.    The authorization conferred on the journal will come into force from the date on which it is included in the respective volume and issue of Ingeniería e Investigación in the Open Journal Systems and on the journal's main page (https://revistas.unal.edu.co/index.php/ingeinv), as well as in different databases and indices in which the publication is indexed;

3.    The authors authorize the Universidad Nacional de Colombia's journal Ingeniería e Investigación to publish the document in whatever required format (printed, digital, electronic or whatsoever known or yet to be discovered form) and authorize Ingeniería e Investigación to include the work in any indices and/or search engines deemed necessary for promoting its diffusion;

4.    The authors accept that such authorization is given free of charge and they, therefore, waive any right to receive remuneration from the publication, distribution, public communication and any use whatsoever referred to in the terms of this authorization.