Kinematic design of a 2-PRR parallel robot


Authors

DOI:

https://doi.org/10.22517/23447214.24161

Keywords:

Dimensional synthesis, design atlas, global condition index, , parallel robot, workspace

Abstract

Este artículo presenta una síntesis dimensional para un robot plano paralelo 2-PRR con estructura simétrica. Este robot posibilita la translación de la mesa móvil sin cambios en la orientación, lo cual resulta útil en aplicaciones que requieren posiciones controladas con alta rigidez. Debido a la alta sensibilidad que tienen estos robots con respecto a los cambios geométricos, muchas metodologías han sido desarrolladas para establecer la síntesis dimensional. En este trabajo se usó el Método de Normalización de Parámetros Finitos (PFNM) para establecer las dimensiones usando dos atlas de diseño, para el Índice Globales de Condición (GCI), y para el espacio de trabajo ( ). Se muestra que, para los dos atlas de diseño, GCI y , no es posible maximizar uno de los índices sin disminuir el otro, lo que representa un compromiso de diseño. Igualmente, se resaltan configuraciones singulares que vienen de geometrías especificas o de posiciones limite. La síntesis dimensional completa del 2-PRR es también presentada.

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Author Biography

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)

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Published

2020-09-30

How to Cite

Durango Idárraga, S., Delgado Martínez, M. C., Álvarez Vargas, C. A., Flórez Hurtado, R. D., & Flórez Ruiz, M. A. (2020). Kinematic design of a 2-PRR parallel robot. Scientia Et Technica, 25(3), 372–379. https://doi.org/10.22517/23447214.24161

Issue

Vol. 25 No. 3 (2020)

Section

Mecánica

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