- -

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

RiuNet: Institutional repository of the Polithecnic University of Valencia

Share/Send to

Cited by

Statistics

  • Estadisticas de Uso

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Show simple item record

Files in this item

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


This item appears in the following Collection(s)

Show simple item record