Hostname: page-component-848d4c4894-75dct Total loading time: 0 Render date: 2024-06-02T20:45:47.512Z Has data issue: false hasContentIssue false
  • English
  • Français

Characterisation of parallel kinematic machines based on structural workspaces

Published online by Cambridge University Press:  02 April 2013

Javier Corral ,
Charles Pinto ,
Oscar Altuzarra  and
Asier Zubizarreta
Javier Corral
Affiliation:
Department of Mechanical Engineering, University of the Basque Country (UPV/EHU), 48013 Bilbao, Spain
Charles Pinto*
Affiliation:
Department of Mechanical Engineering, University of the Basque Country (UPV/EHU), 48013 Bilbao, Spain
Oscar Altuzarra
Affiliation:
Department of Mechanical Engineering, University of the Basque Country (UPV/EHU), 48013 Bilbao, Spain
Asier Zubizarreta
Affiliation:
Automatics and System Engineering Department, University of the Basque Country (UPV/EHU), 48013 Bilbao, Spain
*
a Corresponding author: charles.pinto@ehu.es
Get access

Abstract

In this paper, we present the static and dynamic structural characterisation of a low-mobility parallel kinematic manipulator, involving analysis of its stiffness and vibrational dynamic behaviour. The study starts by building numerical models of the behaviour of the manipulator to be compared to experimental measurements from a prototype. For the case study, we consider a four-degree-of-freedom (x, y, z, θz) manipulator with prismatic actuators designed by the COMPMECH research group at the University of the Basque Country. The characterisation allows the behaviour of the static and dynamic stiffness, as well as the natural frequencies of the manipulator, to be mapped in the manipulator workspace. These maps together with kinematic, static and dynamic constraints lead to the definition of operational, static, dynamic and structural workspaces, respectively. Further, we analyse the modes of the manipulator to determine dynamic displacements, these being key in the performance in the machining tasks for which the robot was designed.

Keywords

Parallel manipulatorstiffnessnatural frequenciesmode shapesvibrationsworkspace
Type
Research Article
Information
Mechanics & Industry , Volume 14 , Issue 1 , 2013 , pp. 43 - 51
Copyright
© AFM, EDP Sciences 2013

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Pierrot, F., Nabat, V., Company, O., Krut, S., Poignet, P., IEEE Transactions on Robotics 25 (2009) 213 CrossRef
D. Chablat, P. Wenger, F. Majou, J.P. Merlet, Interna- tional Journal of Robotics Research, 2004, pp. 1–18
Briot, S., Arakelian, V., Guegan, S., J. Mech. Des. 130 (2008) 122303 CrossRef
O. Company, F. Pierrot, J. Fauroux, in Proceedings of the ICRA 2005, 2005, pp. 3232–3237
Dwivedy, S.K., Eberhard, P., Mechanism and Machine Theory 41 (2006) 749 CrossRef
Wang, Y., Liu, H., Huang, T., Chetwynd, D.G., Journal of Mechanisms and Robotics 1 (2009) 21002 CrossRef
Y.K. Yiu, H. Cheng, Z.H. Xiong, G.F. Liu, Z.X. Li, in Robotics and Automation, 2001. Proceedings 2001 ICRA, IEEE International Conference on 4 (2001) 3766–3771
G.J. Wiens, D.S. Hardage, in International Design Engineering Technical Conferences & Computers and Information in Engineering Conference ASME, 2 (2006) 749–758
Pinto, C., Corral, J., Altuzarra, O., Hernández, A., Robotica 28 (2009) 719 CrossRef
R. Rizk, M. Munteanu, J.C. Fauroux, G. Gogu, in 12th IFToMM World Congress, Vol. 2, 2007, pp. 1–6
Xi, F., Zhang, D., Mechefske, C.M., Lang, S.Y.T., Mechanism and Machine Theory 39 (2004) 357 CrossRef
Zhang, D., Xi, F., Mechefske, C.M., Lang, S.Y.T., Robotics and Computer-Integrated Manufacturing 20 (2004) 151 CrossRef
J.P. Merlet, Parallel robots (Springer, 2006)
Li, Z., Wang, J., Peng, X., Li, S., Yin, Z., American Journal of Nanotechnology 1 (2010) 86
Chanal, H., Duc, E., Ray, P., Int. J. Machine Tools Manuf. 46 (2006) 98 CrossRef
Bonnemains, T., Chanal, H., Bouzgarrou, B.C., Ray, P., J. Manuf. Sci. Eng. 131 (2009) 041013 CrossRef
O. Salgado, Síntesis, análisis y diseño de manipuladores paralelos de baja movilidad, Ph.D. thesis, University of the Basque Country, 2008
K. Arrouk, B.C. Bouzgarrou, G. Gogu, in 19th International Workshop on Robotics in Alpe-Adria-Danube Region, 2010, pp. 155–160