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

Puglisi, Lisandro Jose; Saltaren Pazmiño, Roque Jacinto; Moreno Avalos, Hector; Cardenas Herrera, Pedro Fabian; Garcia Cena, Cecilia Elisabet y 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.

Descripción

Título: Dimensional synthesis of a spherical parallel manipulator based on the evaluation of global performance indexes
Autor/es:
  • Puglisi, Lisandro Jose
  • Saltaren Pazmiño, Roque Jacinto
  • Moreno Avalos, Hector
  • Cardenas Herrera, Pedro Fabian
  • Garcia Cena, Cecilia Elisabet
  • Aracil Santonja, Rafael
Tipo de Documento: Artículo
Título de Revista/Publicación: Robotics and Autonomous Systems
Fecha: Agosto 2012
Volumen: 60
Materias:
Palabras Clave Informales: imensional synthesis; Parallel manipulator; Performance indexes
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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.

Más información

ID de Registro: 15500
Identificador DC: http://oa.upm.es/15500/
Identificador OAI: oai:oa.upm.es:15500
Identificador DOI: 10.1016/j.robot.2012.05.013
URL Oficial: http://www.sciencedirect.com/science/article/pii/S0921889012000693
Depositado por: Memoria Investigacion
Depositado el: 03 Dic 2013 20:21
Ultima Modificación: 21 Abr 2016 15:35
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