Resumo

GALLARDO-ALVARADO, J  e  PEREZ-GONZALEZ, L. Kinematics of an actuating mechanism for a telescoping antenna. Ing. Investig. [online]. 2015, vol.35, n.1, pp.5-11. ISSN 0120-5609.  https://doi.org/10.15446/ing.investig.v35n1.44000.

In this work the position, velocity and acceleration analyses of a four-degrees-of-freedom serial manipulator are approached mainly by means of the theory of screws. Closed-form solutions are easily obtained for the displacement analysis of the mechanism owing the decoupled action of the generalized coordinates, while the input-output equations of velocity and acceleration of the manipulator are systematically obtained by means of the theory of screws. A case study is included with the purpose to exemplify the application of the method.

Palavras-chave : Serial manipulator; Kinematics; Screw Theory.

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