Citation:
A.A. Rojas-Salgado, Y.A. Ledezma-Rubio, Optimal Design of Planar Paraller Manipulators 3 RRR Through Lower Energy Consumption, Proceedings of the 19th CIRP Design Conference – Competitive Design, Cranfield University, 30-31 March 2009, pp45
Abstract:
In most existing studies, the solutions of planar parallel manipulators are restricted to a feasible region of solution. This research provides an optimal solution in link dimension of planar parallel manipulators to a defined trajectory and structure of the links, minimizing the mechanical energy of the manipulator.An algorithm will be obtained that allows adequate dimensioning of the manipulator for a specific task, by means of a passive reconfiguration. With this method most of the energy is used by the manipulator to execute a task, not for the manipulator’s movement. The process is illustrated with an example.
