Kinematics of an actuating mechanism for a telescoping antenna
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...
- Autores:
-
Gallardo-Alvarado, Jaime
- Tipo de recurso:
- Article of journal
- Fecha de publicación:
- 2015
- Institución:
- Universidad Nacional de Colombia
- Repositorio:
- Universidad Nacional de Colombia
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.unal.edu.co:unal/67682
- Acceso en línea:
- https://repositorio.unal.edu.co/handle/unal/67682
http://bdigital.unal.edu.co/68711/
- Palabra clave:
- 62 Ingeniería y operaciones afines / Engineering
Serial manipulator
Kinematics
Screw Theory
Manipulador serial
Cinemática
Teoría de Tornillos
- Rights
- openAccess
- License
- Atribución-NoComercial 4.0 Internacional
| Summary: | 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. |
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