dc.contributor.author | Hernández Frías, Alfonso | |
dc.contributor.author | Zhang, Zhen | |
dc.contributor.author | Petuya Arcocha, Víctor | |
dc.contributor.author | Macho Mier, Erik | |
dc.contributor.author | Amezua San Martín, Enrique | |
dc.date.accessioned | 2019-07-19T06:52:06Z | |
dc.date.available | 2019-07-19T06:52:06Z | |
dc.date.issued | 2016-10-01 | |
dc.identifier.citation | New Advances in Mechanisms, Mechanical Transmissions and Robotics . Mechanisms and Machine Science 46 : 311-319 (2017) | es_ES |
dc.identifier.isbn | 978-3-319-45449-8 | |
dc.identifier.issn | 2211-0984 | |
dc.identifier.uri | http://hdl.handle.net/10810/34724 | |
dc.description.abstract | The kinematic pair Pa2 is composed of two interlinked parallelograms. It has two degrees of freedom that generate a translational plane variable with position. It has a structure different from the PaPa pair, which is composed also by two parallelograms but generates a constant translational plane. Currently, the Pa2 pair is used at conceptual level but it is not used in al-most any practical application. There are advantages and drawbacks in using it. The main drawback is the high number of redundant constraints that this pair possesses. However, sub-stituting carefully the revolute joints by spherical joints can eliminate these redundant con-straints. Also, this pair constitutes a more rigid structure that replaces adequately the problem-atic passive prismatic joints.
In this paper, will be presented a preliminary study of a translational parallel manipulator (PM) based on the use of the Pa2 pair: the 3-PPa2 that contains redundant constraints in its global structure. To study the potentiality of the PM presented in this paper, the following analyses will be done: position and velocity (direct and inverse kinematics), workspace and singularity analysis. Also the potentiality to be optimised will be studied. | 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) under 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 | Springer | es_ES |
dc.relation | info:eu-repo/grantAgreement/MINECO/DPI2015-67626-P | es_ES |
dc.rights | info:eu-repo/semantics/openAccess | es_ES |
dc.subject | Pa2 joint, translational parallel manipulator, kinematic analysis | es_ES |
dc.subject | Pa2 joint | es_ES |
dc.subject | translational parallel manipulator | es_ES |
dc.subject | kinematic analysis | es_ES |
dc.title | Translational parallel manipulator with Pa2 kinematic joints | es_ES |
dc.type | info:eu-repo/semantics/bookPart | es_ES |
dc.rights.holder | © Springer International Publishing AG 2017 | es_ES |
dc.relation.publisherversion | https://link.springer.com/chapter/10.1007/978-3-319-45450-4_31 | es_ES |
dc.identifier.doi | 10.1007/978-3-319-45450-4_31 | |
dc.departamentoes | Ingeniería mecánica | es_ES |
dc.departamentoeu | Ingeniaritza mekanikoa | es_ES |