dc.contributor.author |
Araujo-Gómez, Pedro
|
es_ES |
dc.contributor.author |
Díaz-Rodríguez, Miguel
|
es_ES |
dc.contributor.author |
Mata Amela, Vicente
|
es_ES |
dc.contributor.author |
González Estrada, Octavio A.
|
es_ES |
dc.date.accessioned |
2021-02-06T04:33:29Z |
|
dc.date.available |
2021-02-06T04:33:29Z |
|
dc.date.issued |
2019-10 |
es_ES |
dc.identifier.issn |
1678-5878 |
es_ES |
dc.identifier.uri |
http://hdl.handle.net/10251/160822 |
|
dc.description.abstract |
[EN] The need of a device providing two-translational and two-rotational movements led us to design a 3UPS-1RPU parallel manipulator. The manipulator consisted of a mobile platform connected to a base through one central leg and three external legs located at the same radial distance. By studying different locations of the legs anchoring point, we improved the first layout design, yet not the optimal one. On this basis, this paper focuses on the optimal dimensional design of the manipulator. To this end, we put forward the kinematics equations of the manipulator in accordance with the anchoring points coordinates. Through a numerical approach, the equations allowing to find the manipulator workspace are developed. Also, we find a global manipulability index using a local dexterity measure. The latter index serves as an optimal function. The optimization process considers joint constraints. Thus, we built a nonlinear optimization problem solved through sequential quadratic programming algorithms. We start by optimizing only a small set of parameters rather than the entire set, which gives us insights into the initial guess to optimize using the entire set. Findings show that the optimal design approach improves the dexterity of the manipulator and reduces the number of singular configurations while having almost the same workspace as the original layout. |
es_ES |
dc.description.sponsorship |
This work was supported by the Spanish Ministry of Education, Culture and Sports through the Project for Research and Technological Development with Ref. DPI2017-84201-R. We want to thank Professor Angel Valera and his team at the Laboratorio de Robotica, Universitat Politecnica de Valencia, for the image of the optimized manipulator's layout. |
es_ES |
dc.language |
Inglés |
es_ES |
dc.publisher |
Springer-Verlag |
es_ES |
dc.relation.ispartof |
Journal of the Brazilian Society of Mechanical Sciences and Engineering |
es_ES |
dc.rights |
Reserva de todos los derechos |
es_ES |
dc.subject |
Parallel robots |
es_ES |
dc.subject |
Optimization |
es_ES |
dc.subject |
Kinematic analysis |
es_ES |
dc.subject |
Dexterity |
es_ES |
dc.subject.classification |
INGENIERIA MECANICA |
es_ES |
dc.title |
Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator |
es_ES |
dc.type |
Artículo |
es_ES |
dc.identifier.doi |
10.1007/s40430-019-1934-1 |
es_ES |
dc.relation.projectID |
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-84201-R/ES/INTEGRACION DE MODELOS BIOMECANICOS EN EL DESARROLLO Y OPERACION DE ROBOTS REHABILITADORES RECONFIGURABLES/ |
es_ES |
dc.rights.accessRights |
Cerrado |
es_ES |
dc.contributor.affiliation |
Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials |
es_ES |
dc.description.bibliographicCitation |
Araujo-Gómez, P.; Díaz-Rodríguez, M.; Mata Amela, V.; González Estrada, OA. (2019). Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator. Journal of the Brazilian Society of Mechanical Sciences and Engineering. 41(10):1-9. https://doi.org/10.1007/s40430-019-1934-1 |
es_ES |
dc.description.accrualMethod |
S |
es_ES |
dc.relation.publisherversion |
https://doi.org/10.1007/s40430-019-1934-1 |
es_ES |
dc.description.upvformatpinicio |
1 |
es_ES |
dc.description.upvformatpfin |
9 |
es_ES |
dc.type.version |
info:eu-repo/semantics/publishedVersion |
es_ES |
dc.description.volume |
41 |
es_ES |
dc.description.issue |
10 |
es_ES |
dc.relation.pasarela |
S\396272 |
es_ES |
dc.contributor.funder |
Agencia Estatal de Investigación |
es_ES |
dc.description.references |
Bonev I (2003) The true origins of parallel robots. ParalleMIC. https://www.parallemic.org/ |
es_ES |
dc.description.references |
Pollard WL (1942) U.S. Patent No. 2,286,571. U.S. Patent and Trademark Office, Washington, DC |
es_ES |
dc.description.references |
Gough VE, Whitehall SG (1962) Universal tyre test machine. In: Proceedings of 9th international congress FISITA, May 1962, pp 117–137 |
es_ES |
dc.description.references |
Stewart D (1965) A platform with six degrees of freedom. Proc Inst Mech Eng 180(1):371–386 |
es_ES |
dc.description.references |
Husty ML (1996) An algorithm for solving the direct kinematic of Stewart–Gough platforms. Mech Mach Theory 31(4):365–379 |
es_ES |
dc.description.references |
St-Onge BM, Gosselin CM (2000) Singularity analysis and representation of the general Gough–Stewart platform. Int J Robot Res 19(3):271–288 |
es_ES |
dc.description.references |
Liu MJ, Li CX, Li CN (2000) Dynamics analysis of the Gough–Stewart platform manipulator. IEEE Trans Robot Autom 16(1):94–98 |
es_ES |
dc.description.references |
Ting Y, Chen YS, Jar HC (2004) Modeling and control for a Gough–Stewart platform CNC machine. J Field Robot 21(11):609–623 |
es_ES |
dc.description.references |
Wei F, Wei S, Zhang Y, Liao Q (2017) Forward displacement analysis of a general 6–3 Stewart platform using conformal geometric algebra. Math Probl Eng 2017, 4687638 |
es_ES |
dc.description.references |
Girone M, Burdea G, Bouzit M, Popescu V, Deutsch JE (2001) A Stewart platform-based system for ankle telerehabilitation. Auton Robots 10(2):203–212 |
es_ES |
dc.description.references |
Wang C, Fang Y, Guo S, Chen Y (2013) Design and kinematical performance analysis of a 3-RUS/RRR redundantly actuated parallel mechanism for ankle rehabilitation. J Mech Robot 5(4):041003 |
es_ES |
dc.description.references |
Vallés M, Cazalilla J, Valera A, Mata V, Page A, Díaz-Rodríguez M (2017) A 3-PRS parallel manipulator for ankle rehabilitation: towards a low-cost robotic rehabilitation. Robotica 35(10):1939–1957 |
es_ES |
dc.description.references |
Chen WJ, Zhao MY, Zhou JP, Qin YF (2002) A 2T-2R, 4-DoF parallel manipulator. In: ASME 2002 international design engineering technical conferences and computers and information in engineering conference. ASME, pp 881–885 |
es_ES |
dc.description.references |
Fan C, Liu H, Yuan G, Zhang Y (2011) A novel 2T2R 4-DOF parallel manipulator. In: 2011 Fourth international symposium on knowledge acquisition and modeling (KAM). IEEE, pp 5–8 |
es_ES |
dc.description.references |
Fan C, Liu H, Zhang Y (2013) Type synthesis of 2T2R, 1T2R and 2R parallel mechanisms. Mech Mach Theory 61:184–190 |
es_ES |
dc.description.references |
Xie F, Li T, Liu X (2013) Type synthesis of 4-DOF parallel kinematic mechanisms based on Grassmann line geometry and atlas method. Chin J Mech Eng 26(6):1073–1081 |
es_ES |
dc.description.references |
Ghaffari H, Payeganeh G, Arbabtafti M (2014) Kinematic design of a novel 4-DOF parallel mechanism for turbine blade machining. Int J Adv Manuf Technol 74(5–8):729–739 |
es_ES |
dc.description.references |
Gan D, Dai JS, Dias J, Umer R, Seneviratne L (2015) Singularity-free workspace aimed optimal design of a 2T2R parallel mechanism for automated fiber placement. ASME J Mech Robot 7(4):041022 |
es_ES |
dc.description.references |
Gosselin CM, Angeles J (1988) The optimum kinematic design of a planar three-degree-of freedom parallel manipulator. ASME J Mech Transm Autom Des 110:35–41 |
es_ES |
dc.description.references |
Gosselin CM, Angeles J (1989) The optimum kinematic design of a spherical three-degree-of freedom parallel manipulator. ASME J Mech Transm Autom Des 111(2):202–207 |
es_ES |
dc.description.references |
Hao F, Merlet J-P (2005) Multi-criteria optimal design of parallel manipulators based on interval analysis. Mech Mach Theory 40(2):157–171 |
es_ES |
dc.description.references |
Pierrot F, Nabat V, Company O, Krut S, Poignet P (2009) Optimal design of a 4-DOF parallel manipulator: from academia to industry. IEEE Trans Robot 25(2):213–224 |
es_ES |
dc.description.references |
Tu Y, Chen Q, Ye W, Li Q (2018) Kinematics, singularity, and optimal design of a novel 3T1R parallel manipulator with full rotational capability. J Mech Sci Technol 32(6):2877–2887 |
es_ES |
dc.description.references |
Ramirez-Matheus A, Díaz-Rodríguez M, González-Estrada OA (2017) An approach for optimal dimensional synthesis of a 5R parallel robot for a CNC X–Y cutter. Rev UIS Ing 16(2):197–206 |
es_ES |
dc.description.references |
Araujo-Gómez P, Díaz-Rodríguez M, Mata V, Valera A, Page A (2016) Design of a 3-UPS–RPU parallel robot for knee diagnosis and rehabilitation. In: ROMANSY 21-robot design, dynamics and control, pp 303–310 |
es_ES |
dc.description.references |
Araujo-Gómez P, Mata V, Díaz-Rodríguez M, Valera A, Page A (2017) Design and kinematic analysis of a novel 3UPS/RPU parallel kinematic mechanism with 2T2R motion for knee diagnosis and rehabilitation tasks. J Mech Robot 9(6):061004 |
es_ES |
dc.description.references |
Vallés M, Araujo-Gómez P, Mata V et al (2018) Mechatronic design, experimental setup, and control architecture design of a novel 4 DoF parallel manipulator. Mech Des Struct Mach 46(4):425–439 |
es_ES |
dc.description.references |
Craig JJ (2005) Introduction to robotics: mechanics and control. Pearson/Prentice Hall, New York |
es_ES |
dc.description.references |
Angeles J, López-Cajún CS (1992) Kinematic isotropy and the conditioning index of serial robotic manipulators. Int J Robot Res 11(6):560–571 |
es_ES |
dc.description.references |
Yoshikawa T (1985) Manipulability of robotic mechanisms. Int J Robot Res 4(2):3–9 |
es_ES |
dc.description.references |
Parsa SS, Boudreau R, Carretero JA (2015) Reconfigurable mass parameters to cross direct kinematic singularities in parallel manipulators. Mech Mach Theory 85:53–63 |
es_ES |
dc.description.references |
Özdemir M (2017) Dynamic analysis of planar parallel robots considering singularities and different payloads. Robot Comput Integr Manuf 46:114–121 |
es_ES |