scholarly journals Optimal design of a 2-DOF pick-and-place parallel robot using dynamic performance indices and angular constraints

2013 ◽  
Vol 70 ◽  
pp. 246-253 ◽  
Author(s):  
Tian Huang ◽  
Songtao Liu ◽  
Jiangping Mei ◽  
Derek G. Chetwynd
Keyword(s):  
Optimal Design ◽  
Dynamic Performance ◽  
Parallel Robot ◽  
Performance Indices ◽  
Pick And Place

Optimal Design of a 4-DOF SCARA Type Parallel Robot Using Dynamic Performance Indices and Angular Constraints

2012 ◽  
Vol 4 (3) ◽  
Author(s):  
Songtao Liu ◽  
Tian Huang ◽  
Jiangping Mei ◽  
Xueman Zhao ◽  
Panfeng Wang ◽  
...  
Keyword(s):  
Optimal Design ◽  
Dynamic Performance ◽  
Parallel Robot ◽  
Singularity Analysis ◽  
Rigid Body Dynamics ◽  
Performance Indices ◽  
Global Dynamic ◽  
Transmission Angle ◽  
Body Dynamics ◽  
Rigid Design

This paper deals with the optimal design of a 4-DOF SCARA type (three translations and one rotation) parallel robot using dynamic performance indices and angular constraints within and amongst limbs. The architecture of the robot is briefly addressed with emphasis on the mechanical realization of the articulated traveling plate for achieving a lightweight yet rigid design. On the basis of the kinematic singularity analysis, two types of transmission angle constraints are considered to ensure the kinematic performance. A simplified model of rigid body dynamics is then formulated, with which two global dynamic performance indices are proposed for minimization by taking into account both inertial and centrifugal/Coriolis effects. In addition, the servomotor specifications are estimated using the Extended Adept Cycle. The proposed approach has successfully been employed to develop a prototype machine.

Kinematics and Stiffness Modeling of a 4-DOF Parallel Robot for Schönflies Motion Generation

2014 ◽  
Author(s):  
Shaoping Bai ◽  
Lasse Køgs Andersen ◽  
Carsten Rebbe Mølgaard
Keyword(s):  
Dynamic Performance ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Motion Generation ◽  
Stiffness Modeling ◽  
Pick And Place ◽  
Fea Simulation ◽  
Schönflies Motion ◽  
Pick And Place Operation ◽  
Good Agreement

This work deals with the design of parallel robots for the generation of pick-and-place operation, or Schönflies motion. The aim is to develop a robot with workspace optimized for fast pick-and-place operations, namely, a robot with a superellipsoidal reachable volume, which suits best for the pick-and-place operations on conveyers, where robots’ working areas are nearly rectangular. In this paper, the kinematics and stiffness modeling of the new robot are presented. A method of stiffness modeling by means of Castigliano’s Theorem is developed. Using the new method, the stiffness of the robot is analyzed. The results are compared with FEA simulation, which shows a good agreement between the results. The method is finally applied to the engineering design of the new robot for enhanced static and dynamic performance.

Dynamic Analysis of a Parallel Pick-and-Place Robot With Flexible Links

2008 ◽  
Author(s):  
Haihong Li ◽  
Zhiyong Yang
Keyword(s):  
High Speed ◽  
Dynamic Performance ◽  
Lithium Ion ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Modeling And Analysis ◽  
Flexible Links ◽  
Pick And Place ◽  
Floating Frame ◽  
Pick And Place Operation

The dynamic modeling and analysis of a 2-DOF translational parallel robot for high-speed pick-and-place operation was presented. Considering the flexibility of all links, the governing equation of motion of a flexible link is formulated in the floating frame of reference using Euler-Lagrange method. A kineto-elasto dynamic model of the system is achieved, ready for modal analysis. Simulation in FEM software showed the similar modes with above computational result in typical location and rotation. The dynamic experiment presented the dominant modes and proved the theoretical analysis and simulation. The Diamond robot used in Lithium-ion battery sorting was taken as an example to demonstrate how to finish above studies. The result shows that the mechanism has good dynamic performance. The work is available for all parallel robots with flexible links.

scholarly journals Integrating Dynamics into Design and Motion Optimization of a 3-PRR Planar Parallel Manipulator with Discrete Time Transfer Matrix Method

2020 ◽  
Vol 2020 ◽  
pp. 1-23 ◽  
Author(s):  
Guoning Si ◽  
Mengqiu Chu ◽  
Zhuo Zhang ◽  
Haijie Li ◽  
Xuping Zhang
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Discrete Time ◽  
Parallel Manipulator ◽  
Robot Manipulators ◽  
Dynamic Performance ◽  
Parallel Robot ◽  
Time Transfer ◽  
Performance Indices ◽  
Planar Parallel Manipulator

This paper presents a novel method of dynamic modeling and design optimization integrated with dynamics for parallel robot manipulators. Firstly, a computationally efficient modeling method, the discrete time transfer matrix method (DT-TMM), is proposed to establish the dynamic model of a 3-PRR planar parallel manipulator (PPM) for the first time. The numerical simulations are performed with both the proposed DT-TMM dynamic modeling and the ADAMS modeling. The applicability and effectiveness of DT-TMM in parallel manipulators are verified by comparing the numerical results. Secondly, the design parameters of the 3-PRR parallel manipulator are optimized using the kinematic performance indices, such as global workspace conditioning index (GWCI), global condition index (GCI), and global gradient index (GGI). Finally, a dynamic performance index, namely, driving force index (DFI), is proposed based on the established dynamic model. The described motion trajectory of the moving platform is placed into the optimized workspace and the initial position is determined to finalize the end-effector trajectory of the parallel manipulator by the further optimization with the integrated kinematic and dynamic performance indices. The novelty of this work includes (1) developing a new dynamic model method with high computation efficiency for parallel robot manipulators using DT-TMM and (2) proposing a new dynamic performance index and integrating the dynamic index into the motion and design optimization of parallel robot manipulators.

Geometric Optimization of a Delta Type Parallel Robot Using Harmony Search Algorithm

Robotica ◽  
2019 ◽  
Vol 37 (9) ◽  
pp. 1494-1512
Author(s):  
Mahmood Mazare ◽  
Mostafa Taghizadeh
Keyword(s):  
Optimal Design ◽  
Search Algorithm ◽  
Dynamic Performance ◽  
Harmony Search ◽  
Parallel Robot ◽  
Harmony Search Algorithm ◽  
Geometric Optimization ◽  
Global Error ◽  
Reachable Workspace ◽  
Sensitivity Indices

SummaryThis paper aims to provide an optimal design of geometric parameters of a special architecture of the delta parallel mechanism, in order to improve positioning accuracy, workspace size, and kinematic and dynamic performance characteristics. In the studied 3[P2(US)] robot, the radius of both fixed and moving platforms, length of the connecting rods, and installation angle of the actuators of the manipulator are chosen as the decision variables. These parameters are optimized to maximize the weighted objective function, comprising workspace volume, global dexterity, global mass, global error, and global error sensitivity indices. Optimizations are performed employing two distinct algorithms, Genetic and Harmony Search whose results confirm each other. The optimal design of the robot leads to maximum workspace size, high dexterity, and dynamic performance, with a minimum error of the end-effector position in its reachable workspace.

Analysis and multi-objective optimal design of a planar differentially driven cable parallel robot

Robotica ◽  
2021 ◽  
pp. 1-17
Author(s):  
Ruobing Wang ◽  
Yangmin Li
Keyword(s):  
Optimal Design ◽  
Parallel Robot ◽  
Complex Model ◽  
Design Parameters ◽  
Performance Indices ◽  
Multi Objective

Abstract In this work, a planar cable parallel robot (CPR) driven by four cable-and-pulley differentials is proposed and analyzed. A new cable-and-pulley differential is designed by adding an extra pulley to eliminate the modeling inaccuracies due to the pulley radius and obviate the need of solving the complex model which considers the pulley kinematics. The design parameters of the proposed CPR are determined through multi-objective optimal design for the largest total orientation wrench closure workspace (TOWCW) and the highest global stiffness magnitude index. The proposed differentially driven CPR is evaluated by comparing various performance indices with a fully actuated CPR.

Functional Design and Optimization of a Novel 3-URU Multimodal Reconfigurable Robot

2017 ◽  
Author(s):  
Luca Carbonari ◽  
David Corinaldi ◽  
Matteo-Claudio Palpacelli ◽  
Giacomo Palmieri ◽  
Massimo Callegari
Keyword(s):  
Dynamic Performance ◽  
Parallel Robot ◽  
Complete Characterization ◽  
Functional Design ◽  
Parallel Kinematics ◽  
Performance Indices ◽  
Design And Optimization ◽  
Reconfigurable Robot ◽  
Moving Bodies

This paper presents the functional design and dynamics optimization of a reconfigurable 3-DoF parallel kinematics manipulator conceived for motions of pure rotations and pure translations. The main peculiarity of the device, indeed, is that of allowing changes of the mobility of its moving platform. The kinematic structure of the three identical legs is designed in a way that, when a particular configuration of the manipulator is reached, the transition between the working modes is possible through the reconfiguration of three metamorphic universal joints, which are used to connect each limb to the ground. This configuration allows to limit the weight of the moving bodies of the robot, with a consequent enhancement of the dynamic performance. The kinematics of the parallel robot is introduced in the very first part of the work as a necessary preamble to the optimization of the manipulator geometry, which has been performed in two steps: at first, the Jacobian matrices which characterize the two working modes were used as performance indices for the preliminary functional optimization of the device; subsequently, an optimization of the dynamic behaviour was performed to obtain a complete characterization of the robot in both its modes.

Optimal Design of a Rehabilitation Four Cable-Driven Parallel Robot for Daily Living Activities

2020 ◽  
pp. 3-12 ◽  
Author(s):  
Ferdaws Ennaiem ◽  
Abdelbadiâ Chaker ◽  
Juan Sebastián Sandoval Arévalo ◽  
Med Amine Laribi ◽  
Sami Bennour ◽  
...  
Keyword(s):  
Optimal Design ◽  
Daily Living ◽  
Parallel Robot ◽  
Daily Living Activities
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