Integrating structural and input design of a 2-DOF high-speed parallel manipulator: A flexible model-based approach

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dc.contributor.authorDa Silva, Maíra M.
dc.contributor.authorDe Oliveira, Leopoldo P.R.
dc.contributor.authorBrüls, Olivier
dc.contributor.authorMichelin, Micaël
dc.contributor.authorBaradat, Cédric
dc.contributor.authorTempier, Olivier
dc.contributor.authorDe Caigny, Jan
dc.contributor.authorSwevers, Jan
dc.contributor.authorDesmet, Wim
dc.contributor.authorVan Brussel, Hendrik
dc.contributor.institutionTecnalia Research & Innovation
dc.date.accessioned2024-07-24T12:12:01Z
dc.date.available2024-07-24T12:12:01Z
dc.date.issued2010-11
dc.description.abstractThis 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.en
dc.description.statusPeer reviewed
dc.format.extent11
dc.identifier.citationDa Silva , M M , De Oliveira , L P R , Brüls , O , Michelin , M , Baradat , C , Tempier , O , De Caigny , J , Swevers , J , Desmet , W & Van Brussel , H 2010 , ' Integrating structural and input design of a 2-DOF high-speed parallel manipulator : A flexible model-based approach ' , Mechanism and Machine Theory , vol. 45 , no. 11 , pp. 1509-1519 . https://doi.org/10.1016/j.mechmachtheory.2010.07.002
dc.identifier.doi10.1016/j.mechmachtheory.2010.07.002
dc.identifier.issn0094-114X
dc.identifier.urihttps://hdl.handle.net/11556/4241
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=77956395222&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofMechanism and Machine Theory
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordsFeedforward signal
dc.subject.keywordsFlexible multibody systems
dc.subject.keywordsMotion planning
dc.subject.keywordsParallel manipulators
dc.subject.keywordsBioengineering
dc.subject.keywordsMechanics of Materials
dc.subject.keywordsMechanical Engineering
dc.subject.keywordsComputer Science Applications
dc.titleIntegrating structural and input design of a 2-DOF high-speed parallel manipulator: A flexible model-based approachen
dc.typejournal article
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