Projeto Mecatrônico De Um Robô Com Cinemática Paralela Delta Linear Para Manufatura Aditiva

Rodriguez, Efrain E.; Jaimes, Cristhian Ivan Riano; Álvares, Alberto J.

doi:10.26678/abcm.cobef2017.cof2017-0282

Cited by 4 publications

(6 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Figure 13 shows that prototype of the robot with aluminum base structure achieved after the validation of the first prototype with wooden base structure. Rodriguez et al [29] present in a previous work the mechatronic design of the Linear Delta robot idealized in this work for AM with layer thickness of 0.1 mm. The project takes place under a structured methodology for product development based on a reference model, through three main phases:…”

Section: Case Study: Design Validation and Experimentsmentioning

confidence: 99%

“…Capability analysis was performed using a digital caliper with an error of 0.01 mm to measure the XYZ dimensions of a single part. To minimize the causes of common errors, clearance, wear, deformations, etc., associated with specified and manufactured components, as well as the assembly of systems and subsystems related to the structure of the machine and its operation, a differentiated structure was designed [29]. It is a robust structure, relieving slack because it is based on a transmission with a recirculating ball screw spindle associated with a linear guide rail with a slider as guides (P) as well as revolute joints (R) that are based on a rolling bearing.…”

Section: Case Study: Design Validation and Experimentsmentioning

confidence: 99%

See 1 more Smart Citation

Design and dimensional synthesis of a Linear Delta robot with single legs for additive manufacturing

Rodriguez

Riaño

Álvares

et al. 2019

J Braz. Soc. Mech. Sci. Eng.

Self Cite

View full text Add to dashboard Cite

Parallel manipulator robots are widely used in a large number of applications because they provide important advantages in terms of superior speeds and accelerations, high stiffness and good dynamic performance. In additive manufacturing (AM), this kind of kinematic structures is being increasingly explored to develop new curved and multi-directional fabrication strategies.Based on this application, this work presents the design and dimensional synthesis of a new structure of the Linear Delta parallel robot for AM (3D printing). The new structure uses an innovative concept of Delta mechanism with single legs and rotational joints, which consists of twelve links (three parallel single legs), three prismatic joints and eleven 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 as in the conventional Linear Delta structures. Mobility analysis, inverse and direct kinematics, and a study of dimensional synthesis are described in detail. 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 the main performance index. In order to validate the proposal, a prototype of the robot was built. Capability and geometric deviations analysis was carried out for three test parts resulting in a 0.3-mm deviation/error within a confidence interval of 99.7%.

show abstract

Section: Case Study: Design Validation and Experimentsmentioning

confidence: 99%

Section: Case Study: Design Validation and Experimentsmentioning

confidence: 99%

Design and dimensional synthesis of a Linear Delta robot with single legs for additive manufacturing

Rodriguez

Riaño

Álvares

et al. 2019

J Braz. Soc. Mech. Sci. Eng.

Self Cite

View full text Add to dashboard Cite

show abstract

“…37 This kind of products have a complex and interdisciplinary nature; therefore, it is recommended to adopt structured design methodologies in order to support and systematize decision making during the design process. 37 A design methodology that considers the user’s preferences and requirements can be very convenient. QFD is one of the most known and used methods to define the attributes or characteristics of a product based on the user’s requirements (URs).…”

Section: Conceptual Designmentioning

confidence: 99%

“…The LDr-AM can be considered as a mechatronics product since it involves three technological domains: mechanical, electro-electronic, and computational. 37 This kind of products have a complex and interdisciplinary nature; therefore, it is recommended to adopt structured design methodologies in order to support and systematize decision making during the design process. 37 A design methodology that considers the user's preferences and requirements can be very convenient.…”

Section: Conceptual Designmentioning

confidence: 99%

See 1 more Smart Citation

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

Rodriguez

Álvares

Jaimes

2019

Proceedings of the Institution of Mechanical Engineers, Part I:

Self Cite

View full text Add to dashboard Cite

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.

show abstract

Atlas_GcodeSender: a Graphical User Interface for Control of a Robotics Additive Manufacturing Platform

Rodríguez

Peña

Rodriguez

2018

2018 IEEE International Conference on Mechatronics and Automation (ICMA)

View full text Add to dashboard Cite

Projeto Mecatrônico De Um Robô Com Cinemática Paralela Delta Linear Para Manufatura Aditiva

Cited by 4 publications

References 0 publications

Design and dimensional synthesis of a Linear Delta robot with single legs for additive manufacturing

Design and dimensional synthesis of a Linear Delta robot with single legs for additive manufacturing

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

Atlas_GcodeSender: a Graphical User Interface for Control of a Robotics Additive Manufacturing Platform

Contact Info

Product

Resources

About