Análisis dinámico inverso de robots paralelos: Un tutorial con álgebra de Lie
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| dc.contributor.author | Yime, Eugenio
|
es_ES |
| dc.contributor.author | Saltarén, Roque Jacinto
|
es_ES |
| dc.contributor.author | Roldán Mckinley, Javier Agustin
|
es_ES |
| dc.date.accessioned | 2023-11-07T13:01:22Z | |
| dc.date.available | 2023-11-07T13:01:22Z | |
| dc.date.issued | 2023-09-29 | |
| dc.identifier.issn | 1697-7912 | |
| dc.identifier.uri | http://hdl.handle.net/10251/199436 | |
| dc.description.abstract | [EN] The kinematics and dynamics of parallel mechanisms is a field of research where mechanisms analysis are traditionally carried out using the screw theory. In this article an alternative approach based on group theory and Lie algebra is presented, where both methods, group theory and Lie algebra, are successfully used in the analysis of open kinematic chains. The article begins with a brief introduction to open kinematic chains and its Lie algebra, and later extends the analysis to parallel mechanisms. The article has been written using only traditional vectors an matrices algebra, with the aim of covering the largest number of researchers in the field of Robotics. Typical examples of parallel robots are analyzed in the form of a tutorial, among which are the five-bar mechanism, the spatial four-bar mechanism and the planar 3-RRR robot. It is hoped that the practical approach given to this article will contribute to promoting the use of Lie algebra for the kinematic and dynamic analysis of parallel mechanisms. | es_ES |
| dc.description.abstract | [ES] La cinematica y dinámica de mecanismos paralelos es un campo de investigación donde tradicionalmente se realizan los análisis de los mecanismos empleando la teoría de los torsores. En este artículo se presenta un enfoque alternativo, basado en la teoría de grupos y álgebra de Lie, el cual es un método que ha sido utilizado de manera exitosa en el análisis de cadenas cinemáticas abiertas. El artículo inicia con una breve introducción a las cadenas cinemáticas abiertas y su algebra de Lie, y posteriormente aplica dichos conceptos a los mecanismos paralelos. El artículo se ha redactado utilizando unicamente álgebra de vectores y matrices, con el objetivo de cubrir la mayor cantidad de investigadores del campo de la Robótica. En ese sentido, se analizan ejemplos típicos de robots paralelos en forma de tutorial, entre los que se encuentran, el mecanismo de cinco barras, el mecanismo de cuatro barras espacial y el robot 3-RRR planar. Se espera que el enfoque practico dado al presente artículo contribuya a fomentar el uso del algebra de Lie para el análisis cinemático y dinámico de mecanismos paralelos. | es_ES |
| dc.language | Español | es_ES |
| dc.publisher | Universitat Politècnica de València | es_ES |
| dc.relation.ispartof | Revista Iberoamericana de Automática e Informática industrial | es_ES |
| dc.rights | Reconocimiento - No comercial - Compartir igual (by-nc-sa) | es_ES |
| dc.subject | Planar 3-RRR Robot | es_ES |
| dc.subject | Parallel robots | es_ES |
| dc.subject | Dynamic modelling | es_ES |
| dc.subject | Multibody dynamics | es_ES |
| dc.subject | Five bar mechanisms | es_ES |
| dc.subject | Mecanismo cinco barras | es_ES |
| dc.subject | Modelamiento dinámico | es_ES |
| dc.subject | Robots paralelos | es_ES |
| dc.subject | Robot 3-RRR planar | es_ES |
| dc.subject | Dinámica multicuerpo | es_ES |
| dc.title | Análisis dinámico inverso de robots paralelos: Un tutorial con álgebra de Lie | es_ES |
| dc.title.alternative | Inverse dynamics of parallel robots: A tutorial with Lie algebra | es_ES |
| dc.type | Artículo | es_ES |
| dc.identifier.doi | 10.4995/riai.2023.18356 | |
| dc.rights.accessRights | Abierto | es_ES |
| dc.description.bibliographicCitation | Yime, E.; Saltarén, RJ.; Roldán Mckinley, JA. (2023). Análisis dinámico inverso de robots paralelos: Un tutorial con álgebra de Lie. Revista Iberoamericana de Automática e Informática industrial. 20(4):327-346. https://doi.org/10.4995/riai.2023.18356 | es_ES |
| dc.description.accrualMethod | OJS | es_ES |
| dc.relation.publisherversion | https://doi.org/10.4995/riai.2023.18356 | es_ES |
| dc.description.upvformatpinicio | 327 | es_ES |
| dc.description.upvformatpfin | 346 | es_ES |
| dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
| dc.description.volume | 20 | es_ES |
| dc.description.issue | 4 | es_ES |
| dc.identifier.eissn | 1697-7920 | |
| dc.relation.pasarela | OJS\18356 | es_ES |
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