RT Journal Article
T1 Integrating structural and input design of a 2-DOF high-speed parallel manipulator: 												A flexible model-based approach
A1 Da Silva, Maíra M.
A1 De Oliveira, Leopoldo P.R.
A1 Brüls, Olivier
A1 Michelin, Micaël
A1 Baradat, Cédric
A1 Tempier, Olivier
A1 De Caigny, Jan
A1 Swevers, Jan
A1 Desmet, Wim
A1 Van Brussel, Hendrik
AB This 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.
SN 0094-114X
YR 2010
FD 2010-11
LK https://hdl.handle.net/11556/4241
UL https://hdl.handle.net/11556/4241
LA eng
NO Da 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
DS TECNALIA Publications
RD 28 jul 2024