dc.contributor.author | Hernández Frías, Alfonso | |
dc.contributor.author | Ibarreche Mendia, José ignacio | |
dc.contributor.author | Petuya Arcocha, Víctor | |
dc.contributor.author | Altuzarra Maestre, Oscar | |
dc.date.accessioned | 2015-12-10T12:06:47Z | |
dc.date.available | 2015-12-10T12:06:47Z | |
dc.date.issued | 2014-07-16 | |
dc.identifier.citation | International Journal of Advanced Robotics Systems 11 : (2014) // Article ID 101 | es |
dc.identifier.issn | 1729-8806 | |
dc.identifier.uri | http://hdl.handle.net/10810/16411 | |
dc.description.abstract | In this paper, the architectures of three degrees of freedom (3-DoF) spatial, fully parallel manipulators (PMs), whose limbs are structurally identical, are obtained systematically. To do this, the methodology followed makes use of the concepts of the displacement group theory of rigid body motion. This theory works with so-called 'motion generators'. That is, every limb is a kinematic chain that produces a certain type of displacement in the mobile platform or end-effector. The laws of group algebra will determine the actual motion pattern of the end-effector. The structural synthesis is a combinatorial process of different kinematic chains' topologies employed in order to get all of the 3-DoF motion pattern possibilities in the end-effector of the fully parallel manipulator. | es |
dc.description.sponsorship | The authors wish to acknowledge the financial support received from the Spanish Government through the Ministerio de Economia y Competitividad (Project DPI2011-22955), the Regional Government of the Basque Country through the Dpto. Educ., Univ. e Investig. (Project IT445-10) and UPV/EHU under programme UFI 11/29. | es |
dc.language.iso | eng | es |
dc.publisher | Intech Europe | es |
dc.relation | info:eu-repo/grantAgreement/MINECO/DPI2011-22955 | |
dc.rights | info:eu-repo/semantics/openAccess | es |
dc.subject | parallel manipulator | es |
dc.subject | structural sSynthesis | es |
dc.subject | group of displacement | es |
dc.subject | kinematic bond | es |
dc.subject | motion pattern | es |
dc.subject | kinematic analysis | es |
dc.subject | mechanisms | es |
dc.subject | design | es |
dc.subject | motion | es |
dc.title | Structural Synthesis of 3-DoF Spatial Fully Parallel Manipulators | es |
dc.type | info:eu-repo/semantics/article | es |
dc.rights.holder | © 2014 The Author(s). Licensee InTech. This is an open access article distributed under the terms of the Creative
Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use,
distribution, and reproduction in any medium, provided the original work is properly cited. | es |
dc.relation.publisherversion | http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems/structural-synthesis-of-3-dof-spatial-fully-parallel-manipulators | es |
dc.identifier.doi | 10.5772/58732 | |
dc.departamentoes | Ingeniería mecánica | es_ES |
dc.departamentoeu | Ingeniaritza mekanikoa | es_ES |
dc.subject.categoria | COMPUTER SCIENCE APPLICATIONS | |
dc.subject.categoria | SOFTWARE | |
dc.subject.categoria | COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE | |