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Conceptual Design and Kinematic Analysis of a Parallel Rotational Robot

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Intelligent Robotics and Applications (ICIRA 2012)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7508))

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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.

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Author information

Authors and Affiliations

  1. Research Group in Control and Mechatronics, Mechatronics Engineering Program, Universidad Autonoma de Bucaramanga, Bucaramanga, Colombia

    Fray J. Herrera, Hernan Gonzalez Acuña & Omar Lengerke

  2. Research Group in Machine Design and Robotics, Department of Mechanical Engineering, COPPE, UFRJ, Federal University of Rio de Janeiro, Rio de Janeiro, Brazil

    Max Suell Dutra

Authors
  1. Fray J. Herrera
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  2. Hernan Gonzalez Acuña
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  3. Omar Lengerke
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  4. Max Suell Dutra
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Editor information

Editors and Affiliations

  1. Department of Mechanical and Industrial Engineering, Concordia University, H3G 1M8, Montreal, Quebec, Canada

    Chun-Yi Su

  2. Department of Mechanical and Industrial Engineering, Concordia University, H3G 1M8, Montral, Quebec, Canada

    Subhash Rakheja

  3. School of Creative Technologies, The University of Portsmouth, PO1 2DJ, Portsmouth, UK

    Honghai Liu

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© 2012 Springer-Verlag Berlin Heidelberg

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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. https://doi.org/10.1007/978-3-642-33503-7_6

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  • DOI: https://doi.org/10.1007/978-3-642-33503-7_6

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33502-0

  • Online ISBN: 978-3-642-33503-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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