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dc.contributor.authorVargas R, Julio H.
dc.contributor.authorAgudelo Varela, Oscar
dc.contributor.authorValera, Angel
dc.date.accessioned2019-08-17T03:07:59Z
dc.date.accessioned2022-02-22T12:03:16Z
dc.date.available2019-08-17T03:07:59Z
dc.date.available2022-02-22T12:03:16Z
dc.date.issued2019-07
dc.identifier.isbn978-958-52071-4-1
dc.identifier.issn2414-6390
dc.identifier.otherhttp://laccei.org/LACCEI2019-MontegoBay/meta/FP307.html
dc.identifier.urihttp://dx.doi.org/10.18687/LACCEI2019.1.1.307
dc.identifier.urihttp://axces.info/handle/10.18687/20190101_307
dc.description.abstractThis work presents a 3UPS-2RPRRR parallel robot and its geometric analysis. The robot has three rotational degrees of freedom and two translational degrees of freedom in the XZ plane. The inverse geometric model was obtained by closed-loop analysis. The direct geometric model was obtained analytically by the representation of the geometrical varieties for each end limb. The intersection of varieties results in a multivariate nonlinear equation system. The nonlinear system was solved founding four assembly modes. We use the free package SageMath. Two solution methods were addressed: numerical one solution, and Gröbner basis with Toy Buchberger algorithm. Finally, example calculations of inverse and forward geometrical model were analyzed and plotted.en_US
dc.language.isoEnglishen_US
dc.publisherLACCEI, Inc.en_US
dc.rightsLACCEI License
dc.rights.urihttps://laccei.org/blog/copyright-laccei-papers/
dc.subjectparallel robotsen_US
dc.subjectinverse kinematicsen_US
dc.subjectdirect kinematicsen_US
dc.subjectnonlinear systemsen_US
dc.subjectGröbner basisen_US
dc.subjectBuchberger algorithmen_US
dc.titleTwo Geometrical Analysis Methods of a 3UPS-2RPRRR Parallel Robot
dc.typeArticleen_US
dc.description.countrySpainen
dc.description.institutionUniversitat Politècnica de Valènciaen
dc.description.trackEngineering Design, Engineering Materials and Engineering Innovationen
dc.journal.referatopeerReview


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