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 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.

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.

scholarly journals Review article: Performance measures of parallel kinematics manipulators

2020 ◽  
Vol 11 (1) ◽  
pp. 49-73 ◽  
Author(s):  
Abdur Rosyid ◽  
Bashar El-Khasawneh ◽  
Anas Alazzam
Keyword(s):  
Performance Measures ◽  
Review Paper ◽  
Dynamic Performance ◽  
Review Article ◽  
Extensive Review ◽  
Parallel Kinematics ◽  
Force Transmission ◽  
Performance Indices ◽  
Computation Cost ◽  
Mathematical Expressions

Abstract. This extensive review paper, which involves 204 papers, discusses comprehensively a number of performance indices that are instrumental in the design of parallel kinematics manipulators. These indices measure the workspace as well as its quality including the distance to singularity, dexterity, manipulability, force transmission, accuracy, stiffness, and dynamic performance. After being classified, the indices are discussed in terms of some important aspects including definition, physical meaning soundness, dependency, consistency, scope of applicability, and computation cost. For the sake of completeness, some key mathematical expressions of the indices are provided.

Simplified Approach to Calculating Geometric Stiffness Properties of Tread Pattern Elements

2003 ◽  
Vol 31 (3) ◽  
pp. 132-158 ◽  
Author(s):  
R. E. Okonieski ◽  
D. J. Moseley ◽  
K. Y. Cai
Keyword(s):  
Development Process ◽  
Functional Design ◽  
Simplified Approach ◽  
Tire Industry ◽  
Geometric Stiffness ◽  
Stiffness Properties ◽  
Engineering Parameters ◽  
Net To Gross ◽  
Significant Effort

Abstract The influence of tread designs on tire performance is well known. The tire industry spends significant effort in the development process to create and refine tread patterns. Creating an aesthetic yet functional design requires characterization of the tread design using many engineering parameters such as stiffness, moments of inertia, principal angles, etc. The tread element stiffness is of particular interest because of its use to objectively determine differences between tread patterns as the designer refines the design to provide optimum levels of performance. The tread designer monitors the change in stiffness as the design evolves. Changes to the geometry involve many attributes including the number of sipes, sipe depth, sipe location, block element edge taper, nonskid depth, area net-to-gross, and so forth. In this paper, two different formulations for calculating tread element or block stiffness are reviewed and are compared to finite element results in a few cases. A few simple examples are shown demonstrating the basic functionality that is possible with a numerical method.

Experimental Characterization of Mechanical Behavior of Cord-Rubber Composites

1982 ◽  
Vol 10 (1) ◽  
pp. 37-54 ◽  
Author(s):  
M. Kumar ◽  
C. W. Bert
Keyword(s):  
Response Characteristic ◽  
Cord Compression ◽  
Complete Characterization ◽  
Strain Response ◽  
Strain Gages ◽  
Experimental Characterization ◽  
Rubber Composites ◽  
Stress Strain ◽  
Strain Data

Abstract Unidirectional cord-rubber specimens in the form of tensile coupons and sandwich beams were used. Using specimens with the cords oriented at 0°, 45°, and 90° to the loading direction and appropriate data reduction, we were able to obtain complete characterization for the in-plane stress-strain response of single-ply, unidirectional cord-rubber composites. All strains were measured by means of liquid mercury strain gages, for which the nonlinear strain response characteristic was obtained by calibration. Stress-strain data were obtained for the cases of both cord tension and cord compression. Materials investigated were aramid-rubber, polyester-rubber, and steel-rubber.

Characterization of CMOS Structures (0.6 µm process) Submitted to HBM and COM ESD Stress Tests

1997 ◽  
Author(s):  
G. Meneghesso ◽  
E. Zanoni ◽  
P. Colombo ◽  
M. Brambilla ◽  
R. Annunziata ◽  
...  
Keyword(s):  
Electron Microscopy ◽  
Electrostatic Discharge ◽  
Stress Test ◽  
Complete Characterization ◽  
Stress Tests ◽  
Test Procedures ◽  
Emission Microscopy ◽  
Fast Rise ◽  
Scanning Electron

Abstract In this work, we present new results concerning electrostatic discharge (ESD) robustness of 0.6 μm CMOS structures. Devices have been tested according to both HBM and socketed CDM (sCDM) ESD test procedures. Test structures have been submitted to a complete characterization consisting in: 1) measurement of the tum-on time of the protection structures submitted to pulses with very fast rise times; 2) ESD stress test with the HBM and sCDM models; 3) failure analysis based on emission microscopy (EMMI) and Scanning Electron Microscopy (SEM).

scholarly journals Complete characterization of spin chains with two Ising symmetries

2019 ◽  
Vol 125 (1) ◽  
pp. 10008 ◽  
Author(s):  
Bat-el Friedman ◽  
Atanu Rajak ◽  
Emanuele G. Dalla Torre
Keyword(s):  
Complete Characterization ◽  
Spin Chains

scholarly journals On the star forest polytope for trees and cycles

2019 ◽  
Vol 53 (5) ◽  
pp. 1763-1773
Author(s):  
Meziane Aider ◽  
Lamia Aoudia ◽  
Mourad Baïou ◽  
A. Ridha Mahjoub ◽  
Viet Hung Nguyen
Keyword(s):  
Undirected Graph ◽  
Dominating Set ◽  
Discrete Math ◽  
Complete Characterization ◽  
Facial Structure ◽  
Maximum Weight ◽  
Single Node ◽  
End Node ◽  
Vertex Disjoint

Let G = (V, E) be an undirected graph where the edges in E have non-negative weights. A star in G is either a single node of G or a subgraph of G where all the edges share one common end-node. A star forest is a collection of vertex-disjoint stars in G. The weight of a star forest is the sum of the weights of its edges. This paper deals with the problem of finding a Maximum Weight Spanning Star Forest (MWSFP) in G. This problem is NP-hard but can be solved in polynomial time when G is a cactus [Nguyen, Discrete Math. Algorithms App. 7 (2015) 1550018]. In this paper, we present a polyhedral investigation of the MWSFP. More precisely, we study the facial structure of the star forest polytope, denoted by SFP(G), which is the convex hull of the incidence vectors of the star forests of G. First, we prove several basic properties of SFP(G) and propose an integer programming formulation for MWSFP. Then, we give a class of facet-defining inequalities, called M-tree inequalities, for SFP(G). We show that for the case when G is a tree, the M-tree and the nonnegativity inequalities give a complete characterization of SFP(G). Finally, based on the description of the dominating set polytope on cycles given by Bouchakour et al. [Eur. J. Combin. 29 (2008) 652–661], we give a complete linear description of SFP(G) when G is a cycle.

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