Morphological Synthesis and workspace design for a parallel manipulator with linear actuators
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| Format: | Artículo científico |
| Sprache: | en |
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Universidad Nacional de Colombia
2020
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| _version_ | 1876422961484791808 |
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| author | Carlos Andrés Mesa-Montoya |
| author_facet | Carlos Andrés Mesa-Montoya |
| contents | Morphological Synthesis and workspace design for a parallel manipulator with linear actuators Carlos Andrés Mesa-Montoya Héctor Fabio Quintero-Riaza Federico Gutiérrez-Madrid Ingeniería workspace kinematics design parallel manipulator Dimensional synthesis morphological synthesis This paper addresses the kinematic structure and workspace analysis of a parallel manipulator with linear actuators considering two studies. The first one was based on a morphological synthesis in which a kinematic connections approach was implemented. The set of combinations of joints and links for the desired system and their linkage are illustrated. Finally, the development regarding the conceivable morphology is detailed, providing three linear degrees of freedom between the mobile and fixed platforms. The second study presented the dimensional synthesis of the manipulator, considering a workspace required and an input transmission index. The geometrical design was based on the maximum inscribed workspace volume; the cylindrical shape radius inscribed on a workspace intersection is also exemplified. The geometric determination of the workspace for the manipulator was demonstrated using computer-aided design. A design result of the Delta as checked with the stiffness and condition indices. 2020 artículo científico 0012-7353 https://www.redalyc.org/articulo.oa?id=49664596018 https://www.redalyc.org/journal/496/49664596018/ https://www.redalyc.org/journal/496/49664596018/html/ https://www.redalyc.org/journal/496/49664596018/49664596018.epub https://www.redalyc.org/journal/496/49664596018/movil 10.15446/dyna.v87n213.80676 en http://www.redalyc.org/revista.oa?id=496 Dyna application/pdf Universidad Nacional de Colombia Dyna (Colombia) Num.213 Vol.87 |
| format | Artículo científico |
| id | redalyc_49664596018 |
| institution | Redalyc |
| language | en |
| publishDate | 2020 |
| publisher | Universidad Nacional de Colombia |
| spellingShingle | Morphological Synthesis and workspace design for a parallel manipulator with linear actuators Carlos Andrés Mesa-Montoya Ingeniería workspace kinematics design parallel manipulator Dimensional synthesis morphological synthesis Morphological Synthesis and workspace design for a parallel manipulator with linear actuators Carlos Andrés Mesa-Montoya Héctor Fabio Quintero-Riaza Federico Gutiérrez-Madrid Ingeniería workspace kinematics design parallel manipulator Dimensional synthesis morphological synthesis This paper addresses the kinematic structure and workspace analysis of a parallel manipulator with linear actuators considering two studies. The first one was based on a morphological synthesis in which a kinematic connections approach was implemented. The set of combinations of joints and links for the desired system and their linkage are illustrated. Finally, the development regarding the conceivable morphology is detailed, providing three linear degrees of freedom between the mobile and fixed platforms. The second study presented the dimensional synthesis of the manipulator, considering a workspace required and an input transmission index. The geometrical design was based on the maximum inscribed workspace volume; the cylindrical shape radius inscribed on a workspace intersection is also exemplified. The geometric determination of the workspace for the manipulator was demonstrated using computer-aided design. A design result of the Delta as checked with the stiffness and condition indices. 2020 artículo científico 0012-7353 https://www.redalyc.org/articulo.oa?id=49664596018 https://www.redalyc.org/journal/496/49664596018/ https://www.redalyc.org/journal/496/49664596018/html/ https://www.redalyc.org/journal/496/49664596018/49664596018.epub https://www.redalyc.org/journal/496/49664596018/movil 10.15446/dyna.v87n213.80676 en http://www.redalyc.org/revista.oa?id=496 Dyna application/pdf Universidad Nacional de Colombia Dyna (Colombia) Num.213 Vol.87 |
| title | Morphological Synthesis and workspace design for a parallel manipulator with linear actuators |
| topic | Ingeniería workspace kinematics design parallel manipulator Dimensional synthesis morphological synthesis |
| url | https://www.redalyc.org/articulo.oa?id=49664596018 https://www.redalyc.org/journal/496/49664596018/ https://www.redalyc.org/journal/496/49664596018/html/ https://www.redalyc.org/journal/496/49664596018/49664596018.epub https://www.redalyc.org/journal/496/49664596018/movil |