Optimal Dimensioning for Parallel Manipulators: Workspace, Dexterity, and Energy

Altuzarra, Oscar; Pinto, Charles; Sandru, B.; Hernández, A.

doi:10.1115/1.4003879

Cited by 48 publications

(26 citation statements)

References 23 publications

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“…This index has been widely used to measure the dexterity for the optimization of parallel manipulators. [11][12][13][14][15][16] Due to its wide application and easy implementation, this index is also adopted in this paper to study the dexterity property.…”

Section: Introductionmentioning

confidence: 99%

Optimization design of general triglide parallel manipulators

2016

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Optimization design of parallel manipulators has attracted much interest from researchers in recent years. The reported methodologies attempted to achieve optimal design of parallel manipulators considering several properties, such as dexterity, stiffness, and space utilization, which are important parameters to be considered. However, stiffness analysis considered by many researchers generally ignores the deformation of the mobile platform. For space utilization, there is no reported method to consider the variation in the physical size caused by different postures of the manipulator. Additionally, although optimization of a linear delta and an orthoglide has been presented by several researchers, optimization of a general triglide has not been reported. In order to address these issues, this paper presents a multi-objective optimization addressing dexterity, stiffness, and space utilization of a general triglide. Its stiffness matrix is obtained considering the deformation of mobile platform, limbs, and actuators. A novel stiffness index is used to evaluate its stiffness property considering external wrench applied on the manipulator. The physical size of the triglide is represented using both a constant size and a variable size. Comparing with a reported optimization methodology, it is proven that the proposed method is capable of providing optimal solutions with better properties.

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Section: Introductionmentioning

confidence: 99%

Optimization design of general triglide parallel manipulators

2016

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“…En la literatura se pueden encontrar un amplio número de trabajos dedicados al estudio de manipuladores paralelos tipo 3T1R, por ejemplo su destreza y espacio de trabajo (Altuzarra et al, 2011), el análisis de singularidades de un robot paralelo 4-RUU usando geometría de Grassmann (Amine et al, 2012), el análisis directo de posición medianteálgebra de cuaterniones (Masouleh et al, 2011b), diseñoóptimo basado en el desempeño dinámico (Liu et al, 2012), propuestas de robots con redundancia en su actuación Corves et al, 2016), análisis elastodinámico (Alessandro and Rosario, 2014), diseño de robots de alta velocidad rotacional para operaciones pick-and-place (Xie and Liu, 2015) o con un número reducido de extremidades (Angeles et al, 2006a;Kim et al, 2015), topologías reconfigurables (Nurahmi et al, 2016), síntesis de tipo mediante la teoría de tornillos de manipuladores 3R1T (tres rotaciones y una traslación) desacoplados (Cao et al, 2016), análisis del espacio de trabajo y de singularidades basados en la cinemática inversa (Cervantes-Sánchez et al, 2016). Sin embargo, entre los manipuladores paralelos que desarrollan movimiento de Schönflies destaca uno por su particularmente complicada cinemática: el robot paralelo 3T1R (tres traslaciones y una rotación) con extremidades tipo PRUR (cadena cinemática Prismática-Revoluta-Universal-Revoluta).…”

Section: Introductionunclassified

Análisis Cinemático del Manipulador Paralelo 4- P RUR Mediante la Teoría de Tornillos

Gallardo-Alvarado

Garcia-Murillo

2017

Revista Iberoamericana de Automática e Informática Industrial R

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ResumenEn este trabajo se presenta el análisis cinemático de un robot paralelo generador del movimiento de Schönflies por medio de la teoría de tornillos. Como un paso intermedio, el análisis de posición se obtiene en forma semi-cerrada con base en las coordenadas de dos puntos de la plataforma móvil. Esta estrategia requiere de sólo un marco de referencia, evitando así el cálculo de la matriz de rotación. Las ecuaciones entrada-salida de velocidad y de aceleración se obtienen sistemáticamente recurriendo a la teoría de tornillos recíprocos. Para ello, el robot se modela como si fuese un manipulador paralelo de seis grados de libertad gracias a la incorporación de pares cinemáticos ficticios que conectan las extremidades con la plataforma fija y una cadena cinemática virtual con la finalidad de aplicar sin restricciones elálgebra de Lie se(3) del grupo Euclideo S E(3). El análisis de singularidades se aborda con base en la ecuación entrada-salida de velocidad. Se incluyen ejemplos numéricos que muestran la aplicación del método.

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“…The existing methods of dimension synthesis can be classified into two categories, i.e., objective-function based optimal design and performance-chart based design [11][12][13][14][15][16][17][18][19][20]. Defining suitable performance indices and reducing the number of design variables, as well as employing proper optimization algorithms, are still challenging issues and have caught a lot of attention recently [21][22][23][24][25][26].…”

Section: Introductionmentioning

confidence: 99%

Optimal Design of a New Parallel Kinematic Machine for Large Volume Machining

Jin

Higgins

et al. 2012

Advances in Reconfigurable Mechanisms and Robots I

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Although numerous PKM topologies have been invented recently, few of them have been successfully put into production. A good topology can only provide good performance unless its geometrical parameters are optimized. This paper studies the dimensional synthesis of a new PKM which has shown great potential for large volume high performance manufacturing. A new optimization approach is proposed for design optimization, with a new performance index composed of weight factors of both Global Conditioning Index (GCI) and actuator stroke. Maximizing GCI will ensure the effectiveness of the workspace, while minimizing actuator stroke leads to reduced machine cost and increased efficiency. Results show that the proposed optimization method is valid and effective. The PKM with optimized dimensions has a large workspace to footprint ratio and a large wellconditioned workspace, which ensures its suitability for large volume machining.

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Optimal Dimensioning for Parallel Manipulators: Workspace, Dexterity, and Energy

Cited by 48 publications

References 23 publications

Optimization design of general triglide parallel manipulators

Optimization design of general triglide parallel manipulators

Análisis Cinemático del Manipulador Paralelo 4- P RUR Mediante la Teoría de Tornillos

Optimal Design of a New Parallel Kinematic Machine for Large Volume Machining

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