<?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>S0012-73532020000200129</article-id>
<article-id pub-id-type="doi">10.15446/dyna.v87n213.80676</article-id>
<title-group>
<article-title xml:lang="en"><![CDATA[Morphological Synthesis and workspace design for a parallel manipulator with linear actuators]]></article-title>
<article-title xml:lang="es"><![CDATA[Síntesis morfológica y dimensional de un manipulador paralelo con actuadores lineales]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Mesa-Montoya]]></surname>
<given-names><![CDATA[Carlos Andrés]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Quintero-Riaza]]></surname>
<given-names><![CDATA[Héctor Fabio]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Gutiérrez-Madrid]]></surname>
<given-names><![CDATA[Federico]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad Tecnológica de Pereira Facultad de Ingeniería Mecánica ]]></institution>
<addr-line><![CDATA[Pereira ]]></addr-line>
<country>Colombia</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>06</month>
<year>2020</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>06</month>
<year>2020</year>
</pub-date>
<volume>87</volume>
<numero>213</numero>
<fpage>129</fpage>
<lpage>139</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_arttext&amp;pid=S0012-73532020000200129&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_abstract&amp;pid=S0012-73532020000200129&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_pdf&amp;pid=S0012-73532020000200129&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract This paper addresses the kinematic structure and workspace analysis of a parallel manipulator with linear actuators considering two studies. The first one was based on a morphological synthesis in which a kinematic connections approach was implemented. The set of combinations of joints and links for the desired system and their linkage are illustrated. Finally, the development regarding the conceivable morphology is detailed, providing three linear degrees of freedom between the mobile and fixed platforms. The second study presented the dimensional synthesis of the manipulator, considering a workspace required and an input transmission index. The geometrical design was based on the maximum inscribed workspace volume; the cylindrical shape radius inscribed on a workspace intersection is also exemplified. The geometric determination of the workspace for the manipulator was demonstrated using computer-aided design. A design result of the Delta as checked with the stiffness and condition indices.]]></p></abstract>
<abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen Este artículo aborda el análisis cinemático y el espacio de trabajo de un manipulador paralelo con actuadores lineales considerando dos estudios. El primero trata sobre la síntesis morfológica, implementando un acercamiento por medio del método de juntas cinemáticas. Son ilustrados el conjunto de combinaciones de las juntas y pares para el sistema deseado y sus relaciones. Finalmente, se detalla el desarrollo de la morfología concebida, la cual provee tres grados de libertad lineales entre la plataforma fija y móvil. El segundo estudio presenta la síntesis dimensional del manipulador, considerando un espacio de trabajo requerido y un índice de trasmisión de entrada. El diseño geométrico utiliza el máximo volumen de trabajo inscrito; se muestra la geometría cilíndrica inscrita en la intersección con espacio de trabajo. Se determina la geometría del espacio de trabajo utilizando CAD y el diseño resultante del Delta es verificado con el índice de rigidez y de condición.]]></p></abstract>
<kwd-group>
<kwd lng="en"><![CDATA[dimensional synthesis]]></kwd>
<kwd lng="en"><![CDATA[kinematics design]]></kwd>
<kwd lng="en"><![CDATA[morphological synthesis]]></kwd>
<kwd lng="en"><![CDATA[parallel manipulator]]></kwd>
<kwd lng="en"><![CDATA[workspace]]></kwd>
<kwd lng="es"><![CDATA[diseño cinemático]]></kwd>
<kwd lng="es"><![CDATA[espacio de trabajo]]></kwd>
<kwd lng="es"><![CDATA[manipulador paralelo]]></kwd>
<kwd lng="es"><![CDATA[síntesis dimensional]]></kwd>
<kwd lng="es"><![CDATA[síntesis morfológica]]></kwd>
</kwd-group>
</article-meta>
</front><back>
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