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Research Papers

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

[+] Author and Article Information
Oscar Altuzarra

C. Pinto1

Graduate Research Collaboratorcharles.pinto@ehu.esDepartment of Mechanical Engineering, Faculty of Engineering in Bilbao,  University of the Basque Country, Bilbao, Spain 48013 charles.pinto@ehu.es

B. Sandru

Graduate Research CollaboratorDepartment of Mechanical Engineering, Faculty of Engineering in Bilbao,  University of the Basque Country, Bilbao, Spain 48013

A. Hernandez

Graduate Research Collaboratora.hernandez@ehu.esDepartment of Mechanical Engineering, Faculty of Engineering in Bilbao,  University of the Basque Country, Bilbao, Spain 48013 a.hernandez@ehu.es

SCARA (Selective Compliant Assembly Robot Arm) are low-mobility parallel manipulators which generate in the mobile platform three translations and one rotation upon an axis with a fixed direction.

A specific trajectory used by Adept Technology, Inc., to verify the performances of their model named Quattro.

1

Corresponding author.

J. Mech. Des 133(4), 041007 (May 18, 2011) (7 pages) doi:10.1115/1.4003879 History: Received March 02, 2010; Revised March 25, 2010; Published May 18, 2011; Online May 18, 2011

In mechanism design and in the particular case of the parallel manipulator, most optimization problems involve simultaneously optimizing more than one objective function. In this paper, a method to identify Pareto-optimal solutions for the design of low-mobility parallel manipulators is presented. A 4-degree-of-freedom symmetric parallel manipulator for Schönflies-motion generation is taken as a case study. The design goals used are workspace volume and manipulator dexterity based on a dispersion weighted Frobenius norm. In addition, an expression for energy per cycle has been defined for different types of trajectory to evaluate the power drive. Finally, the set of Pareto-optimal solutions of the design parameters are represented in the design parameter space.

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Copyright © 2011 by American Society of Mechanical Engineers
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Figure 1

CAD model of the parallel manipulator and the parameters of the limb 1

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Figure 2

Maximal, dexterous operational workspace (A = 0.125, C = 0.102, D = 0.070, and rmin  = 0.15 m)

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Figure 4

Input energy per output cycle

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Figure 5

The design parameters space intersection {I}3

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