Cinemática Diferencial de un Manipulador Paralelo Plano 3RRR-(RRR)v con Actuación Virtual Indirecta

This paper presents a new approach to obtain the model of the differential kinematics, on one hand, the model of a planar parallel delta manipulator 3RRR-(RRR) v in a single matrix array, on the other hand, the model of its serial virtual chain (RRR) v . Both models are shown in state variables and in function of the joint variables of the virtual chain. The first model is useful for the complete analysis of both: the kinematic and the controllability of the parallel manipulator. The second model is useful for obtaining its inverse kinematics that is later feed backed to the first one. This feedback is called “indirect virtual driving.” Furthermore, this approach ensures that when the end effector of the serial virtual chain (RRR) v , is controlled about a trajectory, the end effector of the parallel manipulator 3RRR follows this trajectory as well, since they share the same point of analysis. The results show that it is possible to control a planar parallel delta manipulator 3RRR-(RRR) v through controlling the virtual chain (RRR) v . This method promises to be a tool for solving complex robots such as hybrid robot manipulators.

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