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...

Full description

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
Description
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.