Dimensional Synthesis and Performance Evaluation of Four Translational Parallel Manipulators

Robotica ◽  
2020 ◽  
pp. 1-17 ◽  
Author(s):  
I. Ben Hamida ◽  
M. A. Laribi ◽  
A. Mlika ◽  
L. Romdhane ◽  
S. Zeghloul
Keyword(s):  
Genetic Algorithm ◽  
Performance Evaluation ◽  
Parallel Manipulators ◽  
Parallel Robots ◽  
Dimensional Synthesis ◽  
Optimum Selection ◽  
Kinematic Performance ◽  
And Performance ◽  
Pareto Fronts ◽  
Selection Of

SUMMARY The optimum selection of a structure for a given application is a capital phase in typological synthesis of parallel robots. To help in this selection, this paper presents a performance evaluation of four translational parallel robots: Delta, 3-UPU, Romdhane-Affi-Fayet, and Tri-pyramid (TP). The problem is set as a multiobjective optimization using genetic algorithm methods, which uses kinematic criteria, that is, global dexterity and compactness, to ensure a prescribed workspace. The results are presented as Pareto fronts, which are used to compare the performances of the aforementioned structures. The obtained results show that the TP robot has the best kinematic performance, whereas the 3-UPU robot is the most compact for a given prescribed workspace.

Kinematic Performance Evaluation for Heavy Duty Industrial Robot

2014 ◽  
Vol 940 ◽  
pp. 148-152
Author(s):  
S.Q. Li ◽  
Y.Y. Zou ◽  
Y.J. Li ◽  
Yan Jie Li
Keyword(s):  
Performance Evaluation ◽  
Coordinate System ◽  
Traditional Method ◽  
Industrial Robot ◽  
Experimental Results ◽  
Cartesian Coordinate System ◽  
Heavy Duty ◽  
Spherical Coordinate ◽  
Kinematic Performance ◽  
Cartesian Coordinate

Serial industrial robot has been widely used in assembly, welding, painting and other fields in which high kinematic performance is required. In this study, an non-contact approach for accuracy measuring is presented. Comparing with the traditional method based on spherical coordinate system, the approach presented in this study is based on the Cartesian coordinate system which has higher measuring accuracy. Furthermore, kinematic performance evaluation experiments for two types of industrial robot prototypes are proceeded. Experimental results testified that the accuracy of the target robot and proved the efficiency of the approach.

Fine Particle Mass Monitoring with Low-Cost Sensors: Corrections and Long-Term Performance Evaluation

2019 ◽  
Author(s):  
Carl Malings ◽  
Rebecca Tanzer ◽  
Aliaksei Hauryliuk ◽  
Provat K. Saha ◽  
Allen L. Robinson ◽  
...  
Keyword(s):  
Performance Evaluation ◽  
Fine Particle ◽  
Low Cost ◽  
Particle Mass ◽  
Long Term Performance ◽  
Term Performance
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