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Optimal Kinematic Design of Gantry Parallel Robot

Viktor Berbyuk (Institutionen för tillämpad mekanik, Mekaniska system) ; Lars Johannesson (Institutionen för signaler och system, Reglerteknik)
Proc. of IDETC/CIE2005 ASME2005 International Design Engineering Technical Conferences & Computer and Information in Engineering Conference: 5th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), September 24-28, 2005, Long Beach, California, USA, Volume 1, Paper DETC2005-84397, 2005. Vol. 1 (2005), p. Paper DETC2005-84397.
[Konferensbidrag, refereegranskat]

This paper addresses some issues of optimal kinematic design of parallel robot with 3 degrees of freedom. Robot performs translational gantry type motion with a large workspace. The structure’s nominal kinematics is identical to the Linear Delta Robot, the difference being the way which the links are organized. In order to yield a design of the Gantry Parallel Robot with a large workspace volume and good kinematic properties, multi-criteria optimization is used. The objective functions comprise a space utilization index and the inverse conditioning number of the Jacobian matrix. Three different geometrical layouts of the robot are examined and the Pareto optimality between the objective functions is found for several different cases. Pareto-optimal curves showing the relationship between the workspace size and the manipulability are presented as a tool for the designer. The obtained results give a good overview of the kinematic properties of the Gantry Parallel Robot that can be used for designing the parallel structures for various applications.

Nyckelord: Parallel robot, gantry robot, optimal design, multi-criteria optimization, pareto curves.



Denna post skapades 2005-12-03. Senast ändrad 2015-12-17.
CPL Pubid: 7488

 

Institutioner (Chalmers)

Institutionen för tillämpad mekanik, Mekaniska system (2005-2005)
Institutionen för signaler och system, Reglerteknik

Ämnesområden

Teknisk mekanik

Chalmers infrastruktur