Carregant...
Carregant...

Vés al contingut (premeu Retorn)

Synthesis of spatial RPRP closed linkages for a given screw system

Autor
Perez-Gracia, A.
Tipus d'activitat
Article en revista
Revista
Journal of mechanisms and robotics
Data de publicació
2011-04-11
Volum
3
Número
2
Pàgina inicial
1
Pàgina final
8
DOI
https://doi.org/10.1115/1.4003846 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/14663 Obrir en finestra nova
URL
http://asmedl.org/getpdf/servlet/GetPDFServlet?filetype=pdf&id=JMROA6000003000002@webtc.pdf&idtype=tocpdf Obrir en finestra nova
Resum
The dimensional synthesis of spatial chains for a prescribed set of positions can be applied to the design of parallel robots by joining the solutions of each serial chain at the end-effector. This design method does not provide with the knowledge about the trajectory between task positions and, in some cases, may yield a system with negative mobility. These problems can be avoided for some overconstrained but movable linkages if the finite-screw system associated with the motion of the linkage ...
Citació
Perez-Gracia, A. Synthesis of spatial RPRP closed linkages for a given screw system. "Journal of mechanisms and robotics", 11 Abril 2011, vol. 3, núm. 2, p. 1-8.
Grup de recerca
ROBiri - Grup de Robòtica de l'IRI

Participants

  • Pérez Gracia, María Alba  (autor)