<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>0012-7353</journal-id>
<journal-title><![CDATA[DYNA]]></journal-title>
<abbrev-journal-title><![CDATA[Dyna rev.fac.nac.minas]]></abbrev-journal-title>
<issn>0012-7353</issn>
<publisher>
<publisher-name><![CDATA[Universidad Nacional de Colombia]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S0012-73532018000300049</article-id>
<article-id pub-id-type="doi">10.15446/dyna.v85n206.69233</article-id>
<title-group>
<article-title xml:lang="en"><![CDATA[Development of a parametric cable driven planar robot]]></article-title>
<article-title xml:lang="es"><![CDATA[Desarrollo de un robot cartesiano parametrizable comandado por cables]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Castrillón-Restrepo]]></surname>
<given-names><![CDATA[Juan Pablo]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Jiménez-Gómez]]></surname>
<given-names><![CDATA[Sebastián]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Saldarriaga-Ángel]]></surname>
<given-names><![CDATA[Federico]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad EIA  ]]></institution>
<addr-line><![CDATA[Envigado ]]></addr-line>
<country>Colombia</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>09</month>
<year>2018</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>09</month>
<year>2018</year>
</pub-date>
<volume>85</volume>
<numero>206</numero>
<fpage>49</fpage>
<lpage>58</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_arttext&amp;pid=S0012-73532018000300049&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_abstract&amp;pid=S0012-73532018000300049&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_pdf&amp;pid=S0012-73532018000300049&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract Cable driven robots have been a widely researched topic in the last few years, this is due to the advantages that they present over conventional parallel robots. In this paper, all the areas of robotic design have been studied for a planar cable driven robot, with the objective of making it parametric, meaning that the design process and mathematical models used in this paper could be used to implement the suggested architecture to solve any specific need. Finally, using the parametric design approach, a prototype was developed and built in order to validate the design process, evaluate the robot&#8217;s precision, identify future works and improvements and foresee any trouble that was not considered during the design phase.]]></p></abstract>
<abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen Los robots comandados mediante cables han sido muy estudiados en los últimos años, debido a las ventajas que presentan con respecto a otros robots paralelos. En este trabajo, se estudian todas las áreas del diseño robótico para un robot por cables planar cuyo objetivo principal es ser parametrizable, es decir, que el proceso de diseño y los modelos matemáticos utilizados en este trabajo se puedan escalar fácilmente permitiendo implementar la arquitectura trabajada para necesidades específicas. Finalmente, usando el diseño paramétrico, se desarrolló y construyó un prototipo con el fin de validar el proceso de diseño y evaluar precisión en su movimiento, así como identificar futuras mejoras y prever puntos críticos tanto en el diseño mecánico como en los sistemas de actuación no consideradas en el proceso de diseño.]]></p></abstract>
<kwd-group>
<kwd lng="en"><![CDATA[cable driven parallel robots]]></kwd>
<kwd lng="en"><![CDATA[kinematics]]></kwd>
<kwd lng="en"><![CDATA[feasible workspace]]></kwd>
<kwd lng="en"><![CDATA[control systems]]></kwd>
<kwd lng="en"><![CDATA[trajectory tracking]]></kwd>
<kwd lng="es"><![CDATA[robot comandado mediante cables]]></kwd>
<kwd lng="es"><![CDATA[cinemática]]></kwd>
<kwd lng="es"><![CDATA[espacio de trabajo alcanzable]]></kwd>
<kwd lng="es"><![CDATA[sistemas de control]]></kwd>
<kwd lng="es"><![CDATA[seguimiento trayectoria]]></kwd>
</kwd-group>
</article-meta>
</front><back>
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