DINÁMICA Y CONTROL DE UN ROBOT PARALELO 3-RPS
Resumen
Resumen
En el presente artículo se propone una nueva configuración de un robot paralelo de 3 grados de libertad (gdl) con configuración revoluta-prismática-esférica (RPS), el cual genera 2 movimientos de rotación y uno de traslación. La diferencia respecto a los robots paralelos 3-RPS que se han propuesto radica en la orientación de los actuadores. Por otra parte, se presenta el análisis cinemático inverso y directo, así como un modelo matemático dinámico aproximado. Se presentan algunos resultados de simulación para validar los modelos matemáticos obtenidos.
Palabra(s) Clave: Cinemática inversa, configuración RPS, modelo dinámico, Robot Paralelo.
DYNAMICS AND CONTROL OF A PARALLEL ROBOT 3-RPS
Abstract
In this paper, a new configuration of a parallel robot of 3 degrees of freedom (DOF) with revolute-prismatic-spherical (RPS) configuration is proposed, which generates 2 movements of rotation and one of translation. The difference with regard to the parallel robots 3-RPS that have been proposed lies in the orientation of the actuators. On the other hand, the inverse and direct kinematic analysis, as well as an approximate dynamic mathematical model is presented. Some simulation results are presented to validate the mathematical models obtained.
Keywords: Dynamic model, inverse kinematics, parallel robot, RPS configuration
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