Dynamic dimensional synthesis of delta robot

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering

Volumn 46, Issue 3, 2010, Pages 1-7

  Zhang, Limin ^a   Mei, Jiangping ^a   Zhao, Xueman ^a   Huang, Tian ^a  

^a TIANJIN UNIVERSITY   (China)

Author keywords

Dimensional synthesis; Dynamic performance; Parallel robot

Indexed keywords

DELTA ROBOT; DESIGN VARIABLES; DIMENSIONAL PARAMETERS; DIMENSIONAL SYNTHESIS; DRIVING TORQUES; DYNAMIC PERFORMANCE; GLOBAL DYNAMICS; HIGH-SPEED; INERTIAL PARAMETERS; JOINT SPACE; LOWER AND UPPER BOUNDS; PARALLEL ROBOTS; PERFORMANCE CONSTRAINTS; PERFORMANCE INDICES; PICK-AND-PLACE; RIGIDBODY DYNAMICS; SINGULAR CONFIGURATIONS; SYSTEM CONFIGURATIONS; VOLUME RATIO;

INVERSE KINEMATICS;

ROBOTS;

EID: 77949883141     PISSN: 05776686     EISSN: None     Source Type: Journal    
DOI: 10.3901/JME.2010.03.001     Document Type: Article

References (20)

1. CLAVEL R. Device for the movement and positioning of an element in space: USA, US 4976582[P]. 1990-12-11.
2. HUANG T, LI Z X, LI M. Conceptual design and dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations[J]. ASME Journal of Mechanical Design, 2004, 126(5): 449-455.
3. PIERROT F, COMPANY O. H4: A new family of 4-dof parallel robots[C]// Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, September 19-23, 1999, Atlanta. New York: IEEE, 1999: 508-513.
4. NABAT V, COMPANY O, KRUT S, et al. Par4: Very high speed parallel robot for pick-and-place[C]// Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, August 2-6, 2005, Alberta. New York: IEEE, 2005: 1202-1207.
5. GOSSELIN C M, ANGELES J. The optimum kinematic design of a spherical 3-DOF parallel manipulator[J]. ASME Journal of Mechanism, Transmission, and Automation in Design, 1989, 111(2): 202-207.
6. ZANGANEH K, ANGELES J. Kinematic isotropy and the optimum design of parallel manipulators[J]. Int. J. Robot. Res., 1997, 6(2): 185-197.
7. HUANG T, WHITEHOUSE D J, WANG J S. Local dexterity, optimum architecture and design criteria of parallel machine tools[J]. CIRP Ann., 1998, 47(1): 347-351.
8. LIU X J, JIN Z L, GAO F. Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices[J]. Mechanism and Machine Theory, 2000, 35(9): 1257-1267.
9. KIM H S, TSAI L W. Design optimization of a Cartesian parallel manipulator[J]. ASME Journal of Mechanical Design, 2003, 125(3): 43-51.
10. HUANG T, ZHAO X Y, WHITEHOUSE D J. Stiffness estimation of a tripod-based parallel kinematic machine[J]. IEEE Transactions of Robotics and Automation, 2002, 18(1): 50-58.
11. RYU J, CHA J. Optimal architecture design of parallel manipulators for best accuracy[C]// Proceedings of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001, Maui, Hawaii. New York: IEEE, 2001: 1281-1286.
12. MERLET J P, DANEY D. Dimensional synthesis of parallel robots with a guaranteed given accuracy over a specific workspace[C]// Proceedings of the 2005 IEEE International Conference on Robotics and Automation, April 18-22, 2005, Barcelona, Spain. New York: IEEE, 2005: 942-947.
13. GOSSELIN C M, ANGELES J. A globe performance index for the kinematic optimization of robotic manipulators[J]. ASME Journal of Mechanical Design, 1991, 113(3): 220-226.
14. HUANG T, LI M, LI Z X, et al. Optimal kinematic design of 2-DOF parallel manipulators with well-shaped workspace bounded by a specified conditioning index[J]. IEEE Transactions on Robotics and Automation, 2004, 20(3): 538-543.
15. ASADA H. A geometrical representation of manipulator dynamics and its application to arm design[J]. ASME Journal Dynamic Systems, Measurement, and Control, 1983, 105(3): 131-135.
16. YOSHIKAWA T. Dynamic manipulability of robot manipulators[J]. Journal of Robotic Systems, 1985, 2(1): 113-124.
17. MA O, ANGELES J. The concept of dynamics isotropy and its applications to inverse kinematics and trajectory planning[C]// Proceedings of the IEEE International Conference on Robotics and Automation, May 13-18, 1990, Cincinnati. New York: IEEE, 1990: 481-486.
18. HAO F, MERLET J P. Multi-criteria optimal design of parallel manipulators based on interval analysis[J]. Mechanism and Machine Theory, 2005, 40(2): 157-171.
19. LIU X J, WANG J S, PRITSCHOW G. Performance atlases and optimum design of planar 5R symmetrical parallel mechanisms[J]. Mechanism and Machine Theory, 2006, 41(2): 119-144.
20. LOU Y J, ZHANG D J, LI Z X. Optimal design of a parallel machine based on multiple criteria[C]// Proceedings of the 2005 IEEE International Conference on Robotics and Automation, April 18-22, 2005, Barcelona, Spain. New York: IEEE, 2005: 3219-3224.