TY - JOUR
T1 - Optimum design of the reconfiguration system for a 6-degree-of-freedom parallel manipulator via motion/force transmission analysis
AU - Ramos Alvarado, Raymundo
AU - Castillo Castañeda, Eduardo
N1 - Publisher Copyright:
© 2020, The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature.
PY - 2020/3/1
Y1 - 2020/3/1
N2 - This research introduces a 6-degree-of-freedom parallel manipulator with a reconfigurable fixed base; the manipulator performance has been evaluated to select the most suitable reconfiguration system. The optimal design of the parallel manipulator refers to the enhancement of robot behavior achieved by the geometrical variation of the fixed platform. Motion/force transmission, with the aid of the principle of power conservation, defines the manipulator capacity to transmit its force from the actuated joints to the end-effector from different reconfiguration approaches and vice versa considering the stiffness analysis. Results allow inferring that reconfiguration of the fixed base enhances the performance of this parallel manipulator. The proposal of the reconfiguration system allows obtaining a reconfigurable parallel robot with the minimum number of actuators.
AB - This research introduces a 6-degree-of-freedom parallel manipulator with a reconfigurable fixed base; the manipulator performance has been evaluated to select the most suitable reconfiguration system. The optimal design of the parallel manipulator refers to the enhancement of robot behavior achieved by the geometrical variation of the fixed platform. Motion/force transmission, with the aid of the principle of power conservation, defines the manipulator capacity to transmit its force from the actuated joints to the end-effector from different reconfiguration approaches and vice versa considering the stiffness analysis. Results allow inferring that reconfiguration of the fixed base enhances the performance of this parallel manipulator. The proposal of the reconfiguration system allows obtaining a reconfigurable parallel robot with the minimum number of actuators.
KW - Fixed base reconfiguration
KW - Performance evaluation
KW - Principle of virtual work
KW - Stiffness analysis
KW - Transmission force index
UR - http://www.scopus.com/inward/record.url?scp=85081739351&partnerID=8YFLogxK
U2 - 10.1007/s12206-020-0232-2
DO - 10.1007/s12206-020-0232-2
M3 - Artículo
AN - SCOPUS:85081739351
SN - 1738-494X
VL - 34
SP - 1339
EP - 1349
JO - Journal of Mechanical Science and Technology
JF - Journal of Mechanical Science and Technology
IS - 3
ER -