Dynamics and computer aided design of tennis racket. (The influence of some factors on the mode characteristics and a view of optimum design).

The paper presents a procedure of computer aided design of high-speed impellers. The configurations are obtained using programs for the strength under the influence of centrifugal force within given constraints. The method provides a tool for optimizing stresses at an early design stage.

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Performance atlases of the workspace for planar 3-DOF parallel manipulators

Robotica ◽

10.1017/s0263574700002678 ◽

2000 ◽

Vol 18 (5) ◽

pp. 563-568 ◽

Cited By ~ 34

Author(s):

Xin-Jun Liu ◽

Jinsong Wang ◽

Feng Gao

Keyword(s):

Physical Model ◽

Optimum Design ◽

Computer Aided Design ◽

Solution Space ◽

Parallel Manipulators ◽

Performance Characteristics ◽

Performance Criteria ◽

Computer Aided ◽

Aided Design

The design of the robotic mechanisms is most important because they determine the performance characteristics of the robots. This paper concerns the issue of computer-aided design (CAD) for planar 3-DOF parallel robotic mechanisms by means of the physical model of the solution space, which can be used systematically to express the relationships between the performance criteria and all link lengths of one type of the robtic mechanism. The performance atlases of the workspace volume for the manipulators are plotted in the physical model of the solution space. The characteristics of the distribution of the workspace shapes in the physical model of the solution space are presented. The results are useful for the optimum design of the robotic mechanisms. This paper proposes a new way for robotic CAD.

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Workspace atlases for the computer aided design of the Delta robot

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1243/095440603322310413 ◽

2003 ◽

Vol 217 (8) ◽

pp. 861-869 ◽

Cited By ~ 8

Author(s):

X-J Liu ◽

J Wang ◽

H Zheng

Keyword(s):

Physical Model ◽

Optimum Design ◽

Computer Aided Design ◽

Solution Space ◽

Parallel Robots ◽

New Method ◽

Performance Criteria ◽

Computer Aided ◽

Aided Design

Parallel robots lead to complex kinematics equations, so determination of their workspaces is a challenging issue. The workspace of a robot is not fully characterized by its volume alone; the workspace shape is an important aspect as well. In this paper, the geometric determination of the workspace for Delta robots is presented. The workspace (workspace volume and workspace shape) for the robots is studied systematically in ‘the physical model of the solution space’, which is a useful tool to express relationships between the performance criteria and all link lengths of one type of robotic mechanism. Performance atlases of the workspace volume for the robots are plotted in the physical model of the solution space. The characteristics of the distribution of the workspace shapes in the physical model of the solution space are presented as well. The physical model of the solution space presents a new method for the computer aided design (CAD) of robotic mechanisms. The results are very useful for obtaining the optimum design of robotic mechanisms.

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