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...

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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
id UNACIONAL2_fa005ead9158a6386433c926585dd159
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network_name_str Universidad Nacional de Colombia
repository_id_str
spelling Atribución-NoComercial 4.0 InternacionalDerechos reservados - Universidad Nacional de Colombiahttp://creativecommons.org/licenses/by-nc/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Gallardo-Alvarado, Jaimec5853100-1144-4cfc-9a38-6f874bb951e43002019-07-03T04:50:55Z2019-07-03T04:50:55Z2015-01-01ISSN: 2248-8723https://repositorio.unal.edu.co/handle/unal/67682http://bdigital.unal.edu.co/68711/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.application/pdfspaUniversidad Nacional de Colombia - Sede Bogotá - Facultad de Ingenieríahttps://revistas.unal.edu.co/index.php/ingeinv/article/view/44000Universidad Nacional de Colombia Revistas electrónicas UN Ingeniería e InvestigaciónIngeniería e InvestigaciónGallardo-Alvarado, Jaime (2015) Kinematics of an actuating mechanism for a telescoping antenna. Ingeniería e Investigación, 35 (1). pp. 5-11. ISSN 2248-872362 Ingeniería y operaciones afines / EngineeringSerial manipulatorKinematicsScrew TheoryManipulador serialCinemáticaTeoría de TornillosKinematics of an actuating mechanism for a telescoping antennaArtículo de revistainfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/resource_type/c_2df8fbb1http://purl.org/coar/version/c_970fb48d4fbd8a85Texthttp://purl.org/redcol/resource_type/ARTORIGINAL44000-244816-1-PB.pdfapplication/pdf777317https://repositorio.unal.edu.co/bitstream/unal/67682/1/44000-244816-1-PB.pdf5834660a6cc2f3b966cfccec9d46f176MD51THUMBNAIL44000-244816-1-PB.pdf.jpg44000-244816-1-PB.pdf.jpgGenerated Thumbnailimage/jpeg8912https://repositorio.unal.edu.co/bitstream/unal/67682/2/44000-244816-1-PB.pdf.jpg678076af3331d16c58a65252ea332c00MD52unal/67682oai:repositorio.unal.edu.co:unal/676822024-05-22 23:34:15.119Repositorio Institucional Universidad Nacional de Colombiarepositorio_nal@unal.edu.co
dc.title.spa.fl_str_mv Kinematics of an actuating mechanism for a telescoping antenna
title Kinematics of an actuating mechanism for a telescoping antenna
spellingShingle Kinematics of an actuating mechanism for a telescoping antenna
62 Ingeniería y operaciones afines / Engineering
Serial manipulator
Kinematics
Screw Theory
Manipulador serial
Cinemática
Teoría de Tornillos
title_short Kinematics of an actuating mechanism for a telescoping antenna
title_full Kinematics of an actuating mechanism for a telescoping antenna
title_fullStr Kinematics of an actuating mechanism for a telescoping antenna
title_full_unstemmed Kinematics of an actuating mechanism for a telescoping antenna
title_sort Kinematics of an actuating mechanism for a telescoping antenna
dc.creator.fl_str_mv Gallardo-Alvarado, Jaime
dc.contributor.author.spa.fl_str_mv Gallardo-Alvarado, Jaime
dc.subject.ddc.spa.fl_str_mv 62 Ingeniería y operaciones afines / Engineering
topic 62 Ingeniería y operaciones afines / Engineering
Serial manipulator
Kinematics
Screw Theory
Manipulador serial
Cinemática
Teoría de Tornillos
dc.subject.proposal.spa.fl_str_mv Serial manipulator
Kinematics
Screw Theory
Manipulador serial
Cinemática
Teoría de Tornillos
description 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.
publishDate 2015
dc.date.issued.spa.fl_str_mv 2015-01-01
dc.date.accessioned.spa.fl_str_mv 2019-07-03T04:50:55Z
dc.date.available.spa.fl_str_mv 2019-07-03T04:50:55Z
dc.type.spa.fl_str_mv Artículo de revista
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dc.identifier.issn.spa.fl_str_mv ISSN: 2248-8723
dc.identifier.uri.none.fl_str_mv https://repositorio.unal.edu.co/handle/unal/67682
dc.identifier.eprints.spa.fl_str_mv http://bdigital.unal.edu.co/68711/
identifier_str_mv ISSN: 2248-8723
url https://repositorio.unal.edu.co/handle/unal/67682
http://bdigital.unal.edu.co/68711/
dc.language.iso.spa.fl_str_mv spa
language spa
dc.relation.spa.fl_str_mv https://revistas.unal.edu.co/index.php/ingeinv/article/view/44000
dc.relation.ispartof.spa.fl_str_mv Universidad Nacional de Colombia Revistas electrónicas UN Ingeniería e Investigación
Ingeniería e Investigación
dc.relation.references.spa.fl_str_mv Gallardo-Alvarado, Jaime (2015) Kinematics of an actuating mechanism for a telescoping antenna. Ingeniería e Investigación, 35 (1). pp. 5-11. ISSN 2248-8723
dc.rights.spa.fl_str_mv Derechos reservados - Universidad Nacional de Colombia
dc.rights.coar.fl_str_mv http://purl.org/coar/access_right/c_abf2
dc.rights.license.spa.fl_str_mv Atribución-NoComercial 4.0 Internacional
dc.rights.uri.spa.fl_str_mv http://creativecommons.org/licenses/by-nc/4.0/
dc.rights.accessrights.spa.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv Atribución-NoComercial 4.0 Internacional
Derechos reservados - Universidad Nacional de Colombia
http://creativecommons.org/licenses/by-nc/4.0/
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.mimetype.spa.fl_str_mv application/pdf
dc.publisher.spa.fl_str_mv Universidad Nacional de Colombia - Sede Bogotá - Facultad de Ingeniería
institution Universidad Nacional de Colombia
bitstream.url.fl_str_mv https://repositorio.unal.edu.co/bitstream/unal/67682/1/44000-244816-1-PB.pdf
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repository.name.fl_str_mv Repositorio Institucional Universidad Nacional de Colombia
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