Design and construction of a translational parallel robot for drilling tasks

R. Maldonado-Echegoyen; E. Castillo-Castaneda

doi:10.1007/978-3-319-09858-6_48

Design and construction of a translational parallel robot for drilling tasks

R. Maldonado-Echegoyen, E. Castillo-Castaneda

Centro de Investigación en Ciencia Aplicada y Tecnología Avanzada (CICATA), Unidad Querétaro

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This article describes the design, position kinematics analysis and construction of a translational parallel robot for drilling tasks based on two 5-bar mechanisms. The final design provides a large workspace and a simplified geometrical analysis compared with Delta translational parallel robot. Forward and inverse geometric models are also presented. Deformation analysis using ANSYS was performed to obtain a detailed mechanical design considering forces acting during a classical drilling process. The robot was built and validated for vertical drilling tasks on soft materials.

Original language	English
Title of host publication	Multibody Mechatronic Systems - Proceedings of the MUSME Conference, 2014
Editors	Eusebio Eduardo Hernández Martinez, Marco Ceccarelli
Publisher	Kluwer Academic Publishers
Pages	211-520
Number of pages	310
ISBN (Electronic)	9783319098579
DOIs	https://doi.org/10.1007/978-3-319-09858-6_48
State	Published - 2015
Event	5th International Symposium on Multibody Systems and Mechatronics, MUSME 2014 - Huatulco, Mexico Duration: 21 Oct 2014 → 24 Oct 2014

Publication series

Name	Mechanisms and Machine Science
Volume	25
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	5th International Symposium on Multibody Systems and Mechatronics, MUSME 2014
Country/Territory	Mexico
City	Huatulco
Period	21/10/14 → 24/10/14

Keywords

Deformation analysis
Drilling task
Kinematics
Student paper
Translational parallel robot

Access to Document

10.1007/978-3-319-09858-6_48

Cite this

Maldonado-Echegoyen, R., & Castillo-Castaneda, E. (2015). Design and construction of a translational parallel robot for drilling tasks. In E. E. H. Martinez, & M. Ceccarelli (Eds.), Multibody Mechatronic Systems - Proceedings of the MUSME Conference, 2014 (pp. 211-520). (Mechanisms and Machine Science; Vol. 25). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-09858-6_48

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title = "Design and construction of a translational parallel robot for drilling tasks",

abstract = "This article describes the design, position kinematics analysis and construction of a translational parallel robot for drilling tasks based on two 5-bar mechanisms. The final design provides a large workspace and a simplified geometrical analysis compared with Delta translational parallel robot. Forward and inverse geometric models are also presented. Deformation analysis using ANSYS was performed to obtain a detailed mechanical design considering forces acting during a classical drilling process. The robot was built and validated for vertical drilling tasks on soft materials.",

keywords = "Deformation analysis, Drilling task, Kinematics, Student paper, Translational parallel robot",

author = "R. Maldonado-Echegoyen and E. Castillo-Castaneda",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015.; 5th International Symposium on Multibody Systems and Mechatronics, MUSME 2014 ; Conference date: 21-10-2014 Through 24-10-2014",

year = "2015",

doi = "10.1007/978-3-319-09858-6_48",

language = "Ingl{\'e}s",

series = "Mechanisms and Machine Science",

publisher = "Kluwer Academic Publishers",

pages = "211--520",

editor = "Martinez, {Eusebio Eduardo Hern{\'a}ndez} and Marco Ceccarelli",

booktitle = "Multibody Mechatronic Systems - Proceedings of the MUSME Conference, 2014",

address = "Pa{\'i}ses Bajos",

}

Maldonado-Echegoyen, R & Castillo-Castaneda, E 2015, Design and construction of a translational parallel robot for drilling tasks. in EEH Martinez & M Ceccarelli (eds), Multibody Mechatronic Systems - Proceedings of the MUSME Conference, 2014. Mechanisms and Machine Science, vol. 25, Kluwer Academic Publishers, pp. 211-520, 5th International Symposium on Multibody Systems and Mechatronics, MUSME 2014, Huatulco, Mexico, 21/10/14. https://doi.org/10.1007/978-3-319-09858-6_48

Design and construction of a translational parallel robot for drilling tasks. / Maldonado-Echegoyen, R.; Castillo-Castaneda, E.
Multibody Mechatronic Systems - Proceedings of the MUSME Conference, 2014. ed. / Eusebio Eduardo Hernández Martinez; Marco Ceccarelli. Kluwer Academic Publishers, 2015. p. 211-520 (Mechanisms and Machine Science; Vol. 25).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Maldonado-Echegoyen, R.

AU - Castillo-Castaneda, E.

N1 - Publisher Copyright: © Springer International Publishing Switzerland 2015.

PY - 2015

Y1 - 2015

N2 - This article describes the design, position kinematics analysis and construction of a translational parallel robot for drilling tasks based on two 5-bar mechanisms. The final design provides a large workspace and a simplified geometrical analysis compared with Delta translational parallel robot. Forward and inverse geometric models are also presented. Deformation analysis using ANSYS was performed to obtain a detailed mechanical design considering forces acting during a classical drilling process. The robot was built and validated for vertical drilling tasks on soft materials.

AB - This article describes the design, position kinematics analysis and construction of a translational parallel robot for drilling tasks based on two 5-bar mechanisms. The final design provides a large workspace and a simplified geometrical analysis compared with Delta translational parallel robot. Forward and inverse geometric models are also presented. Deformation analysis using ANSYS was performed to obtain a detailed mechanical design considering forces acting during a classical drilling process. The robot was built and validated for vertical drilling tasks on soft materials.

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KW - Drilling task

KW - Kinematics

KW - Student paper

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T2 - 5th International Symposium on Multibody Systems and Mechatronics, MUSME 2014

Y2 - 21 October 2014 through 24 October 2014

ER -

Design and construction of a translational parallel robot for drilling tasks

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