Kinematic-Dimensional Analysis of Parallel Robot Used for Orientation

Solid State Phenomena ◽

10.4028/www.scientific.net/ssp.166-167.229 ◽

2010 ◽

Vol 166-167 ◽

pp. 229-234 ◽

Cited By ~ 5

Author(s):

Tiberiu Pavel Itul ◽

Doina Liana Pisla

Keyword(s):

Dimensional Analysis ◽

Parallel Robot ◽

Celestial Orientation ◽

Dimensional Optimization

In the paper a very simple parallel robot intended for some celestial orientation applications (satellite dishes, sun trackers, cameras, telescopes etc.) is proposed. After describing the mechanism and its kinematics, the workspace and the presence of the singularities are studied. The dimensional optimization to maximize the workspace is described, taking into account the constraints due to telescopic leg lengths and transmission angles.

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Static Analysis and Dimensional Optimization of a Cable-Driven Parallel Robot

Mechanisms and Machine Science - Cable-Driven Parallel Robots ◽

10.1007/978-3-319-61431-1_14 ◽

2017 ◽

pp. 152-166 ◽

Cited By ~ 1

Author(s):

Matthew Newman ◽

Arthur Zygielbaum ◽

Benjamin Terry

Keyword(s):

Static Analysis ◽

Parallel Robot ◽

Dimensional Optimization

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Conceptual design and dimensional optimization of the linear delta robot with single legs for additive manufacturing

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1177/0959651819836915 ◽

2019 ◽

Vol 233 (7) ◽

pp. 855-869 ◽

Cited By ~ 1

Author(s):

Efrain Rodriguez ◽

Alberto J Alvares ◽

Cristhian IR Jaimes

Keyword(s):

Additive Manufacturing ◽

Conceptual Design ◽

Quality Function Deployment ◽

Dynamic Performance ◽

Three Dimensional ◽

Parallel Robot ◽

Parallel Robots ◽

Kinematic Chains ◽

Design Concepts ◽

Dimensional Optimization

Because of remarkable characteristics such as superior speeds and accelerations, high stiffness and good dynamic performance, parallel robots are being increasingly adjusted to different task requirements in the manufacturing field. Their parallel structures made by closed-loop kinematic chains are better suited to develop new curved and multidirectional fabrication strategies in Additive Manufacturing. Based on this application, the conceptual design and dimensional optimization of a new structure of the linear delta parallel robot for Additive Manufacturing (three-dimensional printing) is presented. The new structure uses an innovative concept of delta mechanism with single legs and rotational joints, which consists of 12 links (three single parallel legs), three prismatic joints, and 11 revolute joints. A particular feature of the proposed mechanism is that it contains a joint common to all the kinematic chains instead of a mobile platform. Quality function deployment is used as a methodology for conceptual design. Then the kinematics of the mechanism is described in detail, including mobility analysis, inverse and direct kinematics, and a study of dimensional optimization. A method of efficient optimization based on genetic algorithms is used to find the minimum dimensional parameters of the robot, considering the maximization of the useful workspace as main performance index. Finally, a prototype of the robot is developed to validate the design concepts and functionality of the machine.

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In situ investigation of the primary recrystallization of alpha titanium in HVEM

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100110313 ◽

1978 ◽

Vol 36 (1) ◽

pp. 634-635

Author(s):

S. Naka ◽

R. Penelle ◽

R. Valle

Keyword(s):

Dimensional Analysis ◽

Texture Evolution ◽

Cold Work ◽

Three Dimensional ◽

Primary Recrystallization ◽

Thin Foils ◽

In Situ Investigation ◽

Grain Growth Model ◽

Alpha Titanium

The in situ experimentation technique in HVEM seems to be particularly suitable to clarify the processes involved in recrystallization. The material under investigation was unidirectionally cold-rolled titanium of commercial purity. The problem was approached in two different ways. The three-dimensional analysis of textures was used to describe the texture evolution during the primary recrystallization. Observations of bulk-annealed specimens or thin foils annealed in the microscope were also made in order to provide information concerning the mechanisms involved in the formation of new grains. In contrast to the already published work on titanium, this investigation takes into consideration different values of the cold-work ratio, the temperature and the annealing time.Two different models are commonly used to explain the recrystallization textures i.e. the selective grain growth model (Beck) or the oriented nucleation model (Burgers). The three-dimensional analysis of both the rolling and recrystallization textures was performed to identify the mechanismsl involved in the recrystallization of titanium.

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