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Kinematics and dynamics modeling of the 6-3-PUS-type Hexapod parallel mechanism
dc.contributor.author | Bernal, Jaqueline | |
dc.date.accessioned | 2018-12-04T17:28:35Z | |
dc.date.available | 2018-12-04T17:28:35Z | |
dc.date.issued | 2018-12-01 | |
dc.identifier.uri | http://cathi.uacj.mx/20.500.11961/4411 | |
dc.description.abstract | Modeling and analyzing the dynamics of mechanical systems is important for purposes of simulation, design and control. In the case of parallel manipulators, dynamics modeling becomes a complex task mainly due to the constraints imposed by the closed kinematic chains, and several methods have been proposed for solving that problem. Some authors suggest first using a non-minimal set of coordinates and then computing a minimal dynamics model by means of the so-called projection method. This paper reports the use of such procedure for obtaining the dynamics model of a particular parallel mechanism of the type known as 6-3-PUS. To compute the non-minimal dynamics we employed the Euler-Lagrange formulation. The computed kinematics and dynamics models were validated via numerical simulations. This modeling approach can be employed for similar mechanisms. | es_MX |
dc.language.iso | en_US | es_MX |
dc.relation.ispartof | Producto de investigación IIT | es_MX |
dc.relation.ispartof | Instituto de Ingeniería y Tecnología | es_MX |
dc.rights | Atribución-NoComercial-SinDerivadas 2.5 México | * |
dc.rights | CC0 1.0 Universal | * |
dc.rights.uri | http://creativecommons.org/publicdomain/zero/1.0/ | * |
dc.subject | Modeling | es_MX |
dc.subject | Kinematics | es_MX |
dc.subject | Dynamics | es_MX |
dc.subject | Parallel mechanism | es_MX |
dc.subject.other | info:eu-repo/classification/cti/7 | es_MX |
dc.title | Kinematics and dynamics modeling of the 6-3-PUS-type Hexapod parallel mechanism | es_MX |
dc.type | Artículo | es_MX |
dcterms.thumbnail | http://ri.uacj.mx/vufind/thumbnails/rupiiit.png | es_MX |
dcrupi.instituto | Instituto de Ingeniería y Tecnología | es_MX |
dcrupi.cosechable | Si | es_MX |
dcrupi.norevista | 10 | es_MX |
dcrupi.volumen | 32 | es_MX |
dcrupi.nopagina | 15-21 | es_MX |
dc.contributor.coauthor | Campa, Ricardo | |
dc.contributor.coauthor | Soto Marrufo, Angel Israel | |
dc.journal.title | Journal of Mechanical Science and Technology | es_MX |
dc.lgac | MODELADO Y SIMULACIÓN DE SISTEMAS MECATRÓNICOS | es_MX |
dc.cuerpoacademico | Visión Artificial, Control y Robótica | es_MX |