Diseño cinemático de un robot paralelo 2-PRR

Palabras clave: Atlas de diseño, espacio de trabajo, índice global de condición, robot paralelo, síntesis dimensional.

Resumen

In civil construction Abstract— This paper presents a dimensional synthesis for a 2-PRR planar parallel robot with a structural plane of symmetry. This robot can achieve the translation of the moving platform without changing the orientation, being useful for applications that require controlled positions with high rigidity. Because the performance of parallel robots is highly sensitive to their geometric parameters, many methodologies to state the dimensional synthesis has been developed. We used the method of Parameter - Finiteness Normalization Method (PFNM) to state the dimensional synthesis using Global Condition Index (GCI) and workspace ( ) design atlases. For the two, GCI and , designed atlases, it is not possible to maximize one of the indexes without diminishing the other one, which represents a design compromise. Also, we remark singular configurations that are coming from specific geometry or limit positions. The complete dimensional synthesis is also presented.

Descargas

La descarga de datos todavía no está disponible.

Biografía del autor/a

Sebastián Durango Idárraga, Universidad Autónoma de Manizales

Profesor en el Departamento de Mecánica y Producción de la Universidad Autónoma de Manizales.

Ingeniero Mecánico (UAM, 2000)

Magister en Sistemas Automáticos de Producción (UTP, 2007)

Doctor en Ingeniería (EAFIT, 2011)

Citas

R. Aracil, R. J. Saltarén, J. Sabater and O. Reinoso, "Robots Paralelos: Máquinas con un Pasado para una Robótica del Futuro," RIAI, vol. 3, pp. 16-28, 2006. DOI: 10.4995/riai

https://doi.org/10.4995/riai

"Springer: Handbook of Robotics (Parallel Robots)," 2nd edition, Springer, Berlin, 2016. DOI: 10.1007/978-3-540-30301-5

https://doi.org/10.1007/978-3-540-30301-5

H. F. Quintero Riaza, M. J. Herrera López, and D. B. Peña Saravia, "Revisión del estado del arte de manipuladores paralelos," Sci. Tech. Año XV. Univ. Tecnológica Pereira, Colomb., no. 42, pp. 81-86, 2009. DOI: 10.22517/23447214.2593

J. P. Merlet and D. Daney, "Appropriate design of parallel manipulators," Smart Devices Mach. Adv. Manuf., pp. 1-25, 2008. DOI: 10.1007/978-1-84800-147-3_1

https://doi.org/10.1007/978-1-84800-147-3_1

J. P. Merlet, "Jacobian, Manipulability, Condition Number, and Accuracy of Parallel Robots," J. Mech. Des., vol. 128, no. 1, p. 199, 2006. DOI: 10.1115/1.2121740

https://doi.org/10.1115/1.2121740

F. T. Sánchez Marín, "Contribución a la Síntesis Dimensional de Mecanismos Planos de Generación de Trayectoria," Universitat Jaume I, 2000.

A. Ramírez-Matheus, M. Díaz-Rodríguez, and O. A. González-Estrada, "Estrategia de optimización para la síntesis dimensional de un robot paralelo5R para una aplicación de mesa de corte," Rev. UIS Ing., vol. 16, no. 2, pp. 197-206, 2018. DOI: 10.18273/revuin.v16n2-2017018

https://doi.org/10.18273/revuin.v16n2-2017018

J. Wu, J. Wang, L. Wang, and Z. You, "Performance comparison of three planar 3-DOF parallel manipulators with 4-RRR, 3-RRR and 2-RRR structures," Mechatronics, vol. 20, no. 4, pp. 510-517, 2010. DOI: 10.1016/j.mechatronics.2010.04.012

https://doi.org/10.1016/j.mechatronics.2010.04.012

X. J. Liu and J. Wang, "A new methodology for optimal kinematic design of parallel mechanisms," Mech. Mach. Theory, vol. 42, no. 9, pp. 1210-1224, 2007. DOI: 10.1016/j.mechmachtheory.2006.08.002

https://doi.org/10.1016/j.mechmachtheory.2006.08.002

X. J. Liu, J. Li, and Y. Zhou, "Kinematic optimal design of a 2-degree-of-freedom 3-parallelogram planar parallel manipulator," Mech. Mach. Theory, vol. 87, pp. 1-17, 2015. DOI: 10.1016/j.mechmachtheory.2006.08.002

https://doi.org/10.1016/j.mechmachtheory.2006.08.002

X. J. Liu, J. Wang, and G. Pritschow, "Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms," Mech. Mach. Theory, vol. 41, no. 2, pp. 145-169, 2006. DOI: 10.1016/j.mechmachtheory.2005.05.004

https://doi.org/10.1016/j.mechmachtheory.2005.05.004

H. A. Moreno, R. Saltarén, I. Carrera, L. Puglisi, and R. Aracil, "Índices de desempeño de Robots Manipuladores: Una revisión del estado del arte," RIAI - Rev. Iberoam. Autom. e Inform. Ind., vol. 9, no. 2, pp. 111-122, 2012. DOI: 10.4995/riai

https://doi.org/10.4995/riai

X. J. Liu, J. Wang, and G. Pritschow, "Performance atlases and optimum design of planar 5R symmetrical parallel mechanisms," Mech. Mach. Theory, vol. 41, no. 2, pp. 119-144, 2006. DOI: 10.1016/j.mechmachtheory.2005.05.003

https://doi.org/10.1016/j.mechmachtheory.2005.05.003

B. Peng, L. Zeng, Y. Sun, and X. Chen, "A novel high rigid 2-DOF parallel translating robot," 2009 2nd Int. Conf. Intell. Comput. Technol. Autom. ICICTA 2009, vol. 3, pp. 375-379, 2009. DOI: 10.1109/ICICTA.2009.557

https://doi.org/10.1109/ICICTA.2009.557

T. Huang, Z. Li, M. Li, D. G. Chetwynd, and C. M. Gosselin, "Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and-Place Operations," J. Mech. Des., vol. 126, no. 3, p. 449, 2004. DOI: 10.1115/1.1711822

https://doi.org/10.1115/1.1711822

J. P. Londoño Castro, "Diseño Cinemático de un sistema paletizador de producto terminado de la industria licorera de Caldas (ILC)," Universidad Autónoma de Manizales, 2013.

T. Yoshikawa, Fundation and Robotics: Analysis and Control, First. USA: Cambridge, 1990.

L.-W. Tsai, ROBOT ANALYSIS: The Mechanics of Serial and Parallel Manipulators, First edit. United States of America: John Willey and Sons, INC, 1999.

Publicado
2020-09-30
Cómo citar
Durango IdárragaS., Delgado MartínezM., Álvarez VargasC., Flórez HurtadoR., & Flórez RuizM. (2020). Diseño cinemático de un robot paralelo 2-PRR. Scientia Et Technica, 25(3), 372-379. https://doi.org/10.22517/23447214.24161
Sección
Mecánica