Study of a new class of variable geometry truss manipulators

This Master's Thesis presents a study of a new class of hybrid redundant manipulators, which its motion is caused exclusively by linear actuators. These robots present a wide variety of features that makes them suitable for multiple possible future applications. This work starts by proposing and defining the new class and giving some characteristics of it. A very efficient algorithm based on recursive Depth First Search traversal method is proposed to compute the forward kinematics, as any robot belonging to the class can be represented as a graph. In order to compute the inverse kinematics, a very simple and systematical method for finding the Jacobian matrix of any robot, based on the principle of virtual work, is proposed. To take advantage of kinematic redundancies, an on line optimization method allows the robots to adapt in order to minimize the actuation forces, while the position of some nodes is controlled. Furthermore, libraries to handle any user-defined robot are programmed as an asset to easily compute the proposed methods and validate their applicability to any robot of the class. Finally, a modular prototype that serves to assemble different robots is manufactured and is used to test and demonstrate the algorithms.

• Autores: Iregui Rincón, Santiago
• Fecha de publicación: 2018
• Institución: Universidad de los Andes
• Repositorio: Séneca: repositorio Uniandes
• Idioma: eng
• OAI Identifier: oai:repositorio.uniandes.edu.co:1992/34580
• Acceso en línea: http://hdl.handle.net/1992/34580
• Palabra clave: Robots - Sistemas de control; Cinemática; Manipuladores (Mecanismo); Ingeniería
• Rights: openAccess
• License: https://repositorio.uniandes.edu.co/static/pdf/aceptacion_uso_es.pdf