dc.contributor.author | Altuzarra Maestre, Oscar | |
dc.contributor.author | Urízar Arana, Mónica | |
dc.contributor.author | Cichella, Massimo | |
dc.contributor.author | Petuya Arcocha, Víctor | |
dc.date.accessioned | 2023-05-09T16:11:11Z | |
dc.date.available | 2023-05-09T16:11:11Z | |
dc.date.issued | 2023-07 | |
dc.identifier.citation | Mechanism and Machine Theory 185 : (2023) // Article ID 105311 | es_ES |
dc.identifier.issn | 0094-114X | |
dc.identifier.issn | 1873-3999 | |
dc.identifier.uri | http://hdl.handle.net/10810/61060 | |
dc.description.abstract | Parallel continuum mechanisms are a type of compliant mechanisms comprising a rigid end-effector connected to a fixed frame by flexible and slender elements in a closed-kinematic morphology, being their flexibility the source of mobility. Solving the position problem involves the static equilibrium of the whole device considering the nonlinear large deformations of slender elements. Numerical iterative solutions are already available to solve real-time simulations. However, an assembled solution, which meets both geometric conditions and static equilibrium, is needed to start the process. A comprehensive Kinematic Analysis in the classical sense is not fully established yet. The aim of the paper is to propose a procedure that solves the full inverse and forward kinematic problems for planar three degrees of freedom systems, hence obtaining the multiple solutions arising from the closed-loop structure and the multiplicity of the deformation mode of slender links. From those solutions, finding of the different aspects that comprise the workspace is possible, as well as determining singularities and instability loci. | es_ES |
dc.description.sponsorship | The authors wish to acknowledge the financial support received from the Spanish Government through the Ministerio de Ciencia e Innovación (Project PID2020-116176GB-I00) financed by MCIN/AEI/ 10.13039/501100011033 and the support for the research group through Project IT1480-22 provided by the Departamento de Educación from the Regional Basque Government, Spain . | es_ES |
dc.language.iso | eng | es_ES |
dc.publisher | Elsevier | es_ES |
dc.relation | info:eu-repo/grantAgreement/MICINN/PID2020-116176GB-I00 | es_ES |
dc.rights | info:eu-repo/semantics/openAccess | es_ES |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ | * |
dc.subject | parallel continuum mechanism | es_ES |
dc.subject | Kirchhoff rod | es_ES |
dc.subject | Kinematics | es_ES |
dc.subject | deformation modes | es_ES |
dc.subject | instability | es_ES |
dc.title | Kinematic Analysis of three degrees of freedom planar parallel continuum mechanisms | es_ES |
dc.type | info:eu-repo/semantics/article | es_ES |
dc.rights.holder | © 2023 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/4.0/). | es_ES |
dc.rights.holder | Atribución-NoComercial-SinDerivadas 3.0 España | * |
dc.relation.publisherversion | https://www.sciencedirect.com/science/article/pii/S0094114X23000836?via%3Dihub | es_ES |
dc.identifier.doi | 10.1016/j.mechmachtheory.2023.105311 | |
dc.departamentoes | Ingeniería mecánica | es_ES |
dc.departamentoeu | Ingeniaritza mekanikoa | es_ES |