Resumen

The purpose of this research assistance is to develop a parallel robot in which the flexible links that are usually cables are replaced by chains. The use of pinions or sprockets adds important advantages in relation to cable-operated robots such as: not requiring a collection system, no limitations due to cable deformation and increased load capacity. This document shows the design and construction of a parallel robot commanded by chains based on the development of a mathematical model that allows the control to realize diverse trajectories. In addition, the appropriate design considerations are exposed to allow the exact and precise positioning of the robot in its useful workspace. This is how a flat manipulator of 2 degrees of freedom is presented, with a net size of 1.006 m wide (W) per 1,200 m high (H), which was evaluated with a 5 Kg payload obtaining an accuracy of 0.257 mm and an accuracy of 0.556 mm by performing more complex geometric paths and displacement.