Título

Simulation of a parallel mechanical elbow with 3 DOF

Autor

JOSE RAFAEL MENDOZA VAZQUEZ

ESTEBAN TLELO CUAUTLE

J LUIS VAZQUEZ GONZALEZ

APOLO ZEUS ESCUDERO URIBE

Nivel de Acceso

Acceso Abierto

Licencia

http://creativecommons.org/licenses/by-nc-nd/4.0

Materias

Kinematics - (KINEMATICS) Modeling - (MODELING) Simulation - (SIMULATION) Robot kinematics - (ROBOT KINEMATICS) CIENCIAS FÍSICO MATEMÁTICAS Y CIENCIAS DE LA TIERRA - (CTI) FÍSICA - (CTI) ELECTRÓNICA - (CTI)

Resumen o descripción

The kinematics simulation and modeling of a mechanical elbow of 3 degrees of freedom, is introduced by highlighting the main features of the mechanism related to the design criteria. The mechanical elbow is used as a transhumeral prosthetic part, and it has been built as a parallel topology consisting of electric linear actuators and universal joints. The parallel mechanism has 4 legs. 3 are electric linear actuators, and the fourth leg provides mechanical support for the whole structure and holds a DC Motor that performs the action of gripping objects. Furthermore, this paper shows the inverse kinematics for the elbow by geometric methods, and the MatLab‐simulation results show the workspace of the movement and the ability of the mechanical elbow to replicate the movements of a biological one.

Editor

Journal of Applied Research and Technology

Fecha de publicación

2009

Tipo de publicación

Artículo

Versión de la publicación

Versión aceptada

Recurso de información

http://inaoe.repositorioinstitucional.mx/jspui/handle/1009/1280

Formato

application/pdf

Idioma

Inglés

Audiencia

Estudiantes

Investigadores

Público en general

Sugerencia de citación

Mendoza‐Vázquez, J.R., et al., (2009). Simulation of a parallel mechanical elbow with 3 DOF, Journal of Applied Research and Technology, Vol. 7 (2): 113-123

Repositorio Orígen

Repositorio Institucional del INAOE

Descargas

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