Elements of Synthesis and Experiment for Parallel Robots

Abstract

Parallel robots have received special interest due to their advantages over conventional serial mechanisms: high rigidity, high load capacity, high velocity and high precision. The parallel robot is a mechatronic system and requires to be designed in the spirit of the mechatronic philosophy. The use of a parallel robot in a given application requires a careful analysis of the structure and of the indispensable parameters. Structural synthesis of mechanisms for parallel robots is addressed in detail. This paper proposes a method of structural synthesis of the parallel robotic mechanism according to the concept of the mechatronic philosophy and of the kinematic connections. The authors offer a system for analyzing the robot performances based on the3D CompuGaugeequipment.

An Improved Harmony Search Algorithm for a Planar Parallel Robot Synthesis

“…A mechanism is a set of rigid elements connected in a specific arrangement, to produce a desired motion or to transfer the energy from the inputs of the mechanism to its outputs. During the design stage, mechanisms are either analyzed or synthesized [1,2,3]. In the instance of kinematic synthesis, which is classified into three categories: function generation, path generation, and motion generation.…”