Browsing by Keyword "Parallel manipulators"
Now showing 1 - 2 of 2
Results Per Page
Sort Options
Item Integrating structural and input design of a 2-DOF high-speed parallel manipulator: A flexible model-based approach(2010-11) Da Silva, Maíra M.; De Oliveira, Leopoldo P.R.; Brüls, Olivier; Michelin, Micaël; Baradat, Cédric; Tempier, Olivier; De Caigny, Jan; Swevers, Jan; Desmet, Wim; Van Brussel, Hendrik; Tecnalia Research & InnovationThis paper discusses the integrated design of parallel manipulators, which exhibit varying dynamics. This characteristic affects the machine stability and performance. The design methodology consists of four main steps: (i) the system modeling using flexible multibody technique, (ii) the synthesis of reduced-order models suitable for control design, (iii) the systematic flexible model-based input signal design, and (iv) the evaluation of some possible machine designs. The novelty in this methodology is to take structural flexibilities into consideration during the input signal design; therefore, enhancing the standard design process which mainly considers rigid bodies dynamics. The potential of the proposed strategy is exploited for the design evaluation of a two degree-of-freedom high-speed parallel manipulator. The results are experimentally validated.Item Motion pattern analysis of parallel kinematic machines: A case study(2009-04) Altuzarra, Oscar; Martín, Yon San; Amezua, Enrique; Hernández, Alfonso; Centros PRE-FUSION TECNALIA - (FORMER)This paper looks at the "five-axis machines" for machining operations. These machines have five (or six at maximum) degrees of freedom (dof). The output motion must have at least three translational and two rotational dof. This output motion pattern can be obtained with different structural topologies: serial, parallel, hybrid and with serial and/or parallel manipulators working in co-operation. The latter allows higher motion ranges in rotational and translational dof. Moreover, it provides a good stiffness, a highly valued requisite in applications like machining. Manipulators of this type are characterized by their kinematics to be integrated in the CNC, which requires the study of the relative motion between their modules. This motion is usually complex, and in certain cases presents kinematic relations not evident. This work presents a methodology to solve the motion pattern out of the direct and inverse kinematics of the relative motion between the modules of which the manipulator is composed. On the one hand, the spindle is mounted on a parallel module. On the other hand, the working table is mounted on a serial module. This methodology was applied to the Hermes parallel manipulator in combination with rotary and linear tables. As a result, a series of considerations regarding other possible combinations between modules was made and a new machine is proposed.