Dimensional synthesis of a spherical parallel manipulator based on the evaluation of global performance indexes

Puglisi, Lisandro Jose and Saltaren Pazmiño, Roque Jacinto and Moreno Avalos, Hector and Cardenas Herrera, Pedro Fabian and García Cena, Cecilia Elisabet and Aracil Santonja, Rafael (2012). Dimensional synthesis of a spherical parallel manipulator based on the evaluation of global performance indexes. "Robotics and Autonomous Systems", v. 60 (n. 8); pp. 1037-1045. ISSN 0921-8890. https://doi.org/10.1016/j.robot.2012.05.013.

Description

Title: Dimensional synthesis of a spherical parallel manipulator based on the evaluation of global performance indexes
Author/s:
  • Puglisi, Lisandro Jose
  • Saltaren Pazmiño, Roque Jacinto
  • Moreno Avalos, Hector
  • Cardenas Herrera, Pedro Fabian
  • García Cena, Cecilia Elisabet
  • Aracil Santonja, Rafael
Item Type: Article
Título de Revista/Publicación: Robotics and Autonomous Systems
Date: August 2012
ISSN: 0921-8890
Volume: 60
Subjects:
Freetext Keywords: imensional synthesis; Parallel manipulator; Performance indexes
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

In this work, the dimensional synthesis of a spherical Parallel Manipulator (PM) with a -1S kinematic chain is presented. The goal of the synthesis is to find a set of parameters that defines the PM with the best performance in terms of workspace capabilities, dexterity and isotropy. The PM is parametrized in terms of a reference element, and a non-directed search of these parameters is carried out. First, the inverse kinematics and instantaneous kinematics of the mechanism are presented. The latter is found using the screw theory formulation. An algorithm that explores a bounded set of parameters and determines the corresponding value of global indexes is presented. The concepts of a novel global performance index and a compound index are introduced. Simulation results are shown and discussed. The best PMs found in terms of each performance index evaluated are locally analyzed in terms of its workspace and local dexterity. The relationship between the performance of the PM and its parameters is discussed, and a prototype with the best performance in terms of the compound index is presented and analyzed.

More information

Item ID: 15500
DC Identifier: http://oa.upm.es/15500/
OAI Identifier: oai:oa.upm.es:15500
DOI: 10.1016/j.robot.2012.05.013
Official URL: http://www.sciencedirect.com/science/article/pii/S0921889012000693
Deposited by: Memoria Investigacion
Deposited on: 03 Dec 2013 20:21
Last Modified: 11 Oct 2018 08:37
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