Resumen

MENDOZA-VAZQUEZ, J. R.; TLELO-CUAUTLE, E.; VAZQUEZ-GONZALEZ, J.L.  y  ESCUDERO-URIBE, A. Z.. Simulation of a parallel mechanical elbow with 3 DOF. J. appl. res. technol [online]. 2009, vol.7, n.2, pp.113-123. ISSN 2448-6736.

The kinematics simulation and modeling of a mechanical elbow of 3 degrees of freedom, is introduced by highlighting the main features of the mechanism related to the design criteria. The mechanical elbow is used as a transhumeral prosthetic part, and it has been built as a parallel topology consisting of electric linear actuators and universal joints. The parallel mechanism has 4 legs. 3 are electric linear actuators, and the fourth leg provides mechanical support for the whole structure and holds a DC Motor that performs the action of gripping objects. Furthermore, this paper shows the inverse kinematics for the elbow by geometric methods, and the MatLab-simulation results show the workspace of the movement and the ability of the mechanical elbow to replicate the movements of a biological one.

Palabras llave : Kinematics; Modeling; Simulation; Robot kinematics.

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