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Gantry Tau – A New Parallel Kinematic Robot

Lars Johannesson (Institutionen för signaler och system) ; Viktor Berbyuk (Institutionen för maskin- och fordonssystem, Mekaniska system) ; Torgny Brogårdh
Proceedings of the 4th Chemnitz Parallel Kinematics Seminar, (Ed.: Reimund Neugebauer), April 20-21, 2004, Verlag Wissenschaftliche Scripten p. 731-734. (2004)
[Konferensbidrag, refereegranskat]

A new parallel structure, the Gantry Tau, is introduced. The structure provides 3 degrees of freedom translational motion with a large workspace. The structure’s nominal kinematics is identical to the Linear Delta robot. In order to yield a design of the Gantry Tau with a large workspace volume and good kinematic properties, multi-criteria optimization is used. Different geometrical layouts are examined and the Pareto optimality between the objective functions is found.

Nyckelord: parallel robot, pareto optimality, Linear Delta robot, optimization



Denna post skapades 2006-10-23. Senast ändrad 2015-12-17.
CPL Pubid: 5062

 

Institutioner (Chalmers)

Institutionen för signaler och system
Institutionen för maskin- och fordonssystem, Mekaniska system (1900-2004)

Ämnesområden

Teknisk mekanik

Chalmers infrastruktur