dc.contributor.author | Ibarreche Mendia, José ignacio | |
dc.contributor.author | Hernández Frías, Alfonso | |
dc.contributor.author | Petuya Arcocha, Víctor | |
dc.contributor.author | Urízar Arana, Mónica | |
dc.contributor.author | Macho Mier, Erik | |
dc.date.accessioned | 2019-07-19T06:29:32Z | |
dc.date.available | 2019-07-19T06:29:32Z | |
dc.date.issued | 2017-06-07 | |
dc.identifier.citation | Mechanism and Machine Theory 116 : 234-247 (2017) | es_ES |
dc.identifier.issn | 0094-114X | |
dc.identifier.uri | http://hdl.handle.net/10810/34723 | |
dc.description.abstract | The idea of designing multioperation mechanisms capable of performing different tasks has gained prominence in the last years. These mechanisms, commonly called reconfig- urable mechanisms, have the ability to change their configuration. At present, this type of mechanisms is capturing the attention of design engineers because of their great po- tential in many industrial applications. In this paper, the basis for the development of a methodology intended for the analysis and design of multioperational parallel manipu- lators is presented. First, the structural synthesis of 6 degree-of-freedom (dof) kinematic chains that can form a 6 dof manipulator is established. Next, a general purpose approach for non-redundant parallel manipulators (PM) will be presented. This procedure enables obtaining the Jacobian matrices of any 6 dof or low-mobility PM whose kinematic chains belong to the library of chains derived from the structural synthesis. To demonstrate the versatility of the procedure, it will be applied to three PM: the first one, a 6 dof PM, the second one, a reconfigurable 6 dof PM, and finally, a low-mobility PM. | es_ES |
dc.description.sponsorship | This work was supoorted by the Spanish Government through the Ministerio de Economía y Competitividad (Project DPI2015-67626-P (MINECO/FEDER, UE)), the financial support from the University of the Basque Country (UPV/EHU) un- der the program UFI 11/29 and the support to the research group, through the project with ref. IT949-16 , given by the Departamento de Educación , Política Lingüística y Cultura of the Regional Government of the Basque Country. | es_ES |
dc.language.iso | eng | es_ES |
dc.publisher | Elsevier | es_ES |
dc.relation | info:eu-repo/grantAgreement/MINECO/DPI2015-67626-P | 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 | multioperation | es_ES |
dc.subject | parallel manipulator | es_ES |
dc.subject | generic kinematic chain | es_ES |
dc.subject | reconfigurable | es_ES |
dc.title | Multioperation capacity of parallel manipulators basing on generic kinematic chain approach | es_ES |
dc.type | info:eu-repo/semantics/article | es_ES |
dc.rights.holder | (c) 2017 Elsevier | es_ES |
dc.relation.publisherversion | https://www.sciencedirect.com/science/article/pii/S0094114X1730160X | es_ES |
dc.identifier.doi | 10.1016/j.mechmachtheory.2017.05.023 | |
dc.departamentoes | Ingeniería mecánica | es_ES |
dc.departamentoeu | Ingeniaritza mekanikoa | es_ES |