Kinematic and Dynamic Dimensional Synthesis of Extended Delta Parallel Robots

2019 ◽  
pp. 131-143
Author(s):  
J. Brinker ◽  
B. Corves ◽  
Y. Takeda
Keyword(s):  
Parallel Robots ◽  
Dimensional Synthesis

scholarly journals Synthesis of Spatial RPRP Closed Linkages for a Given Screw System

2011 ◽  
Vol 3 (2) ◽  
Author(s):  
Alba Perez-Gracia
Keyword(s):  
Design Method ◽  
Parallel Robots ◽  
Synthesis Problem ◽  
Dimensional Synthesis ◽  
End Effector ◽  
Serial Chain

The dimensional synthesis of spatial chains for a prescribed set of positions can be applied to the design of parallel robots by joining the solutions of each serial chain at the end-effector. This design method does not provide with the knowledge about the trajectory between task positions and, in some cases, may yield a system with negative mobility. These problems can be avoided for some overconstrained but movable linkages if the finite-screw system associated with the motion of the linkage is known. The finite-screw system defining the motion of the robot is generated by a set of screws, which can be related to the set of finite task positions traditionally used in the synthesis theory. The interest of this paper lies in presenting a method to define the whole workspace of the linkage as the input task for the exact dimensional synthesis problem. This method is applied to the spatial RPRP closed linkage, for which one solution exists.

Some investigations into the optimal dimensional synthesis of parallel robots

2015 ◽  
Vol 83 (9-12) ◽  
pp. 1525-1538 ◽  
Author(s):  
Ridha Kelaiaia ◽  
Abdelouahab Zaatri ◽  
Olivier Company ◽  
Lotfi Chikh
Keyword(s):  
Parallel Robots ◽  
Dimensional Synthesis

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.

scholarly journals Diseño cinemático de un robot paralelo 2-PRR

2020 ◽  
Vol 25 (3) ◽  
pp. 372-379
Author(s):  
Sebastián Durango Idárraga ◽  
Mariline C. Delgado Martínez ◽  
César A. Álvarez Vargas ◽  
Rubén D. Flórez Hurtado ◽  
Manuel A. Flórez Ruiz
Keyword(s):  
Condition Index ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Normalization Method ◽  
Dimensional Synthesis ◽  
Singular Configurations ◽  
Highly Sensitive ◽  
Global Condition ◽  
Specific Geometry ◽  
Workspace Design

In civil construction Abstract— This paper presents a dimensional synthesis for a 2-PRR planar parallel robot with a structural plane of symmetry. This robot can achieve the translation of the moving platform without changing the orientation, being useful for applications that require controlled positions with high rigidity. Because the performance of parallel robots is highly sensitive to their geometric parameters, many methodologies to state the dimensional synthesis has been developed. We used the method of Parameter - Finiteness Normalization Method (PFNM) to state the dimensional synthesis using Global Condition Index (GCI) and workspace ( ) design atlases. For the two, GCI and , designed atlases, it is not possible to maximize one of the indexes without diminishing the other one, which represents a design compromise. Also, we remark singular configurations that are coming from specific geometry or limit positions. The complete dimensional synthesis is also presented.

Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and-Place Operations

2003 ◽  
Vol 126 (3) ◽  
pp. 449-455 ◽  
Author(s):  
Tian Huang ◽  
Zhanxian Li ◽  
Meng Li ◽  
Derek G. Chetwynd ◽  
Clement M. Gosselin
Keyword(s):  
Conceptual Design ◽  
High Speed ◽  
Parallel Robot ◽  
Rechargeable Batteries ◽  
Parallel Robots ◽  
Dimensional Synthesis ◽  
Long Distance ◽  
Conceptual Design Phase ◽  
Pick And Place ◽  
Index Subject

This paper deals with the conceptual design and optimal dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations. In a conceptual design phase, the conditions for generating such kinds of parallel robots are investigated, leading to the invention of a 2-D version of the Delta robot. Combining this robot with a 1-DOF feed mechanism, a hybrid robot can be created which is particularly suitable for transporting objects at very high speed in a plane plus a relatively slow or step-by-step, yet long distance motion, normal to the plane. The kinematic optimality of the 2-DOF translational parallel robot is achieved by minimizing a global and comprehensive conditioning index subject to a set of appropriate constraints. The application of this robot to the development of a device for quality inspection of rechargeable batteries is used to demonstrate its applicability.

A Method to Integrate Anthropometry to Davies' Method for Dimensional Synthesis of a Hospital Bed Backrest Mechanism

2019 ◽  
Author(s):  
Rodrigo Luís Pereira Barreto ◽  
Elias Renã Maletz ◽  
André Luís Molgaro ◽  
João Vitor Fernandes Brito ◽  
Daniel Martins
Keyword(s):  
Dimensional Synthesis ◽  
Hospital Bed

scholarly journals Hybrid Seven-bar Press Mechanism

2018 ◽  
Vol 12 (3) ◽  
pp. 181-187
Author(s):  
M. Erkan Kütük ◽  
L. Canan Dülger
Keyword(s):  
Genetic Algorithm ◽  
Objective Function ◽  
Design Optimization ◽  
Hybrid System ◽  
Degrees Of Freedom ◽  
Dimensional Synthesis ◽  
Design Variables ◽  
Optimization Study ◽  
Metal Stamping

An optimization study with kinetostatic analysis is performed on hybrid seven-bar press mechanism. This study is based on previous studies performed on planar hybrid seven-bar linkage. Dimensional synthesis is performed, and optimum link lengths for the mechanism are found. Optimization study is performed by using genetic algorithm (GA). Genetic Algorithm Toolbox is used with Optimization Toolbox in MATLAB®. The design variables and the constraints are used during design optimization. The objective function is determined and eight precision points are used. A seven-bar linkage system with two degrees of freedom is chosen as an example. Metal stamping operation with a dwell is taken as the case study. Having completed optimization, the kinetostatic analysis is performed. All forces on the links and the crank torques are calculated on the hybrid system with the optimized link lengths

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