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dc.contributor.authorAltuzarra Maestre, Oscar ORCID
dc.contributor.authorTagliavini, Luigi
dc.contributor.authorLei, Yuhang
dc.contributor.authorPetuya Arcocha, Víctor ORCID
dc.contributor.authorRuiz Erezuma, José Luis
dc.date.accessioned2023-01-24T13:53:33Z
dc.date.available2023-01-24T13:53:33Z
dc.date.issued2023-01-06
dc.identifier.citationMachines 11(1) : (2023) // Article ID 71es_ES
dc.identifier.issn2075-1702
dc.identifier.urihttp://hdl.handle.net/10810/59443
dc.description.abstractA parallel continuum manipulator (PCM) is a mechanism of closed-loop morphology with flexible elements such that their deformation contributes to its mobility. Flexible hexapods are six-degrees-of-freedom (DoF) fully parallel continuum mechanisms already presented in the literature. Devices of reduced mobility, i.e., lower mobility than six DoF, have not been studied so far. An essential characteristic of lower mobility mechanisms is that reduced mobility is due to kinematic constraints generated by mechanical arrangements and passive joints. In rigid-link parallel manipulators, those constraints are expressed as a set of equations relating to the parameters representing the end effector’s pose. As a consequence, independent output pose variables are controllable with the position equations, while dependent output variables undergo parasitic motions. In this paper, the performance of a tripod-type parallel continuum manipulator, 3PF−−S, is compared with the operation of its rigid counterpart 3P−−RS. We will show that in PCMs there are no such geometric constraints expressible with algebraic equations, but it is difficult to perform some types of motion in the end effector with the input torques. Another goal of this paper is to evaluate such limitation of motion in a tripod-like PCM and compare it with the constraints of the rigid 3P−−RS. Finally, the paper shows that there are strong similarities in the reduced mobility of both mechanisms.es_ES
dc.description.sponsorshipThis research was funded by the Spanish Government through the Ministerio de Ciencia e Innovación (Project PID2020-116176GB-I00) financed by MCIN/AEI/10.13039/501100011033, and the Regional Basque Government through the Departamento de Educación via Research Groups Project IT1480-22.es_ES
dc.language.isoenges_ES
dc.publisherMDPIes_ES
dc.relationinfo:eu-repo/grantAgreement/MICINN/PID2020-116176GB-I00es_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectparallel continuum manipulatorses_ES
dc.subjectreduced mobilityes_ES
dc.subjecttripodes_ES
dc.subjectparasitic motionses_ES
dc.subjectkinematic constraintses_ES
dc.titleOn Constraints and Parasitic Motions of a Tripod Parallel Continuum Manipulatores_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.date.updated2023-01-20T14:23:01Z
dc.rights.holder© 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/ 4.0/).es_ES
dc.relation.publisherversionhttps://www.mdpi.com/2075-1702/11/1/71/es_ES
dc.identifier.doi10.3390/machines11010071
dc.departamentoesIngeniería mecánica
dc.departamentoeuIngeniaritza mekanikoa


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© 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/ 4.0/).
Except where otherwise noted, this item's license is described as © 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/ 4.0/).