Conceptual Design and Kinematic Analysis of a Parallel Rotational Robot

  • Fray J. Herrera
  • Hernan Gonzalez Acuña
  • Omar Lengerke
  • Max Suell Dutra
Conference paper

DOI: 10.1007/978-3-642-33503-7_6

Part of the Lecture Notes in Computer Science book series (LNCS, volume 7508)
Cite this paper as:
Herrera F.J., Acuña H.G., Lengerke O., Dutra M.S. (2012) Conceptual Design and Kinematic Analysis of a Parallel Rotational Robot. In: Su CY., Rakheja S., Liu H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science, vol 7508. Springer, Berlin, Heidelberg

Abstract

This paper presents the conceptual design and simulation of a rotational parallel robot. This robot is used to reproduce movement; the robot workspace, inverse kinematic study and a simulation of the system in a trajectory were analyzed. Computational tools were used to resolve equations, create a virtual design and conduct simulation in the conceptual design. The rotational parallel robot used 6 servomotors and 6 links with spherical joints that provide 360o rotational capabilities on its axis. This is a big flexibility in comparison with Stewart platform but the workspace is smaller than that of the Stewart platform.

Keywords

parallel robot inverse kinematics conceptual design 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Fray J. Herrera
    • 1
  • Hernan Gonzalez Acuña
    • 1
  • Omar Lengerke
    • 1
  • Max Suell Dutra
    • 2
  1. 1.Research Group in Control and Mechatronics, Mechatronics Engineering ProgramUniversidad Autonoma de BucaramangaBucaramangaColombia
  2. 2.Research Group in Machine Design and Robotics, Department of Mechanical EngineeringCOPPE, UFRJ, Federal University of Rio de JaneiroRio de JaneiroBrazil

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