Kinematic Analysis and Design Optimization of a 4-rRUU Parallel Manipulator
| Autor: | Nayak, Abhilash, Caro, Stéphane, Wenger, Philippe |
|---|---|
| Přispěvatelé: | Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Autonomie des Robots et Maîtrise des interactions avec l’ENvironnement (ARMEN), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Robots and Machines for Manufacturing, Society and Services (RoMas), Robotique Et Vivant (ReV), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS) |
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: | |
| Zdroj: | Advances in Mechanism and Machine Science Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science Advances in Mechanism and Machine Science Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, 2019, Advances in Mechanism and Machine Science Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, ⟨10.1007/978-3-030-20131-9⟩ |
| Popis: | International audience; A lower-mobility parallel manipulator with multiple operation modes can be considered as inherently reconfigurable. 4-RUU parallel manipulator is one such manipulator with three different operation modes. Allowing the first revolute joint axis to have any horizontal orientation leads to a dual reconfigurable 4-rRUU mechanism. This paper presents a novel method to determine its operation modes as functions of the orientation of its base revolute joint axes. Moreover, it's transla-tional workspace is plotted for three mutually perpendicular orientations of its base revolute joint axes. With a goal to realize a working prototype, pareto optimization is used to determine its design parameters such that it has a larger singularity-and interference-free workspace while having a smaller size. |
| Databáze: | OpenAIRE |
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