Optimal Design of Planar Paraller Manipulators 3 RRR Through Lower Energy Consumption
Date
2009-03-31
Supervisor/s
Journal Title
Journal ISSN
Volume Title
Publisher
Cranfield University Press
Department
Type
Conference paper
ISSN
Format
Free to read from
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.
Description
Organised by: Cranfield University
Software Description
Software Language
Github
Keywords
Parallel manipulator, Parallel and serial singularities, Energy, Optimization
DOI
Rights
Copyright: Cranfield University 2009
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Relationships
Supplements
Funder/s
Mori Seiki – The Machine Tool Company