Análisis de singularidades y espacio de trabajo del robot paralelo de tipología 3UPE-RPU

Abstract

This work is the continuation of the first stage of the PIMI research project 15-04 which refers to a parallel robot of typology 3UPE-RPU is carried out by the Faculty of Mechanical Engineering of the National Polytechnic School (EPN). One of the objectives proposed in this work is a comparison between the Jacobian analytical and the Jacobian geometric, fulfilled with the first objective, the purpose of this work is the workspace in the constant orientation of the 4GDL robot using an algorithm that allows to discretize and evaluate their work space, as well as perform a mathematical analysis on the basis of the theory of screw and classify the singularities according to the work done by Gosselin and Angeles, whose main function is to determine the Jacobian matrix. The configuration of the robot yields a dimensionless Jacobian matrix, it is explained, a homogenization method is used, the analysis of the Jacobian matrix range is facilitated. To validate the results, MATLAB is used, where the mathematical calculations are carried out, in addition to making a representation of the workspace, the results to visualize the workspace and analyze its singularities.