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Advances in Robot Kinematics pp 307–316Cite as

Kinematics and Dynamics of a 3-RPSR Parallel Robot Used as a Pipe-Bending Machine

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Abstract

In this work the kinematics and dynamics of a six degrees of freedom 3-RPSR parallel manipulator, used as a pipe-bender machine, are solved. First the forward position analysis of the mechanism under study is solved by using mechanical constraints equations. Afterwards, the velocity and acceleration analysis are addressed by taking advantage of the properties of reciprocal screws. Then, the generalized forces of the mechanism are determined by combining the screw theory with the principle of virtual work. Finally, a numerical example is provided.

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References

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Authors and Affiliations

  1. CICATA-Qro, National Polytechnic Institute, Querétaro, Mexico

    Mario Alberto Garcia-Murillo & Eduardo Castillo-Casataneda

  2. Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Tokyo, Japan

    Yukio Takeda, Daisuke Matsuura & Syohei Kawasumi

  3. Department of Mechanical Engineering, Celaya Institute of Technology, Celaya, Mexico

    Jaime Gallardo-Alvarado

Authors
  1. Mario Alberto Garcia-Murillo
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  2. Yukio Takeda
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  3. Eduardo Castillo-Casataneda
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  4. Daisuke Matsuura
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  5. Syohei Kawasumi
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  6. Jaime Gallardo-Alvarado
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Corresponding author

Correspondence to Mario Alberto Garcia-Murillo .

Editor information

Editors and Affiliations

  1. J. Stefan Institute, Ljubljana-Vic-Rudnik, Slovenia

    Jadran Lenarčič

  2. Department of Computer Science Artificial Intelligence Laboratory, Stanford University, Stanford, California, USA

    Oussama Khatib

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© 2014 Springer International Publishing Switzerland

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Garcia-Murillo, M.A., Takeda, Y., Castillo-Casataneda, E., Matsuura, D., Kawasumi, S., Gallardo-Alvarado, J. (2014). Kinematics and Dynamics of a 3-RPSR Parallel Robot Used as a Pipe-Bending Machine. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_32

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  • DOI: https://doi.org/10.1007/978-3-319-06698-1_32

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-06697-4

  • Online ISBN: 978-3-319-06698-1

  • eBook Packages: EngineeringEngineering (R0)

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