J. Gallardo–Alvarado*, R. Lesso–Arroyo

Department of Mechanical Engineering, INSTITUTO TECNOLÓGICO DE CELAYA Av. Tecnológico y A. García Cubas, 38010 Celaya, GTO, México. ^*gjaime@itc.mx, rlesso@itc.mx

ABSTRACT

In this work, a novel parallel manipulator is introduced with the purpose of simulating the jerk analysis of the end of the spine. The displacement analysis is presented in a semi–closed form solution whereas the velocity, acceleration and jerk analyses are carried out by means of the theory of screws.

Keywords: Parallel manipulator, spine, screw theory, jerk analysis, kinematics.

RESUMEN

En este trabajo se introduce un manipulador paralelo novedoso con el propósito de simular el análisis de pulso de la columna vertebral. El análisis de posición se presenta en forma semi cerrada, mientras que los análisis de velocidad, aceleración y pulso son realizados por medio de la teoría de tornillos.

Palabras clave: Predicción lineal, servo control visual, seguimiento, visión estéreo, calibración de cámaras.

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