Open AccessMorphological Synthesis and workspace design for a parallel manipulator with linear actuators
Author(s) -
Carlos Andrés Mesa Montoya,
Héctor Fabio Quintero Riaza,
Federico Gutiérrez Madrid
Publication year - 2020
Publication title -
dyna
Language(s) - English
Resource type - Journals
eISSN - 2346-2183
pISSN - 0012-7353
DOI - 10.15446/dyna.v87n213.80676
Subject(s) - workspace , kinematics , linear actuator , actuator , intersection (aeronautics) , computer science , parallel manipulator , mobile manipulator , stiffness , control theory (sociology) , control engineering , topology (electrical circuits) , engineering , robot , artificial intelligence , structural engineering , mobile robot , physics , control (management) , electrical engineering , classical mechanics , aerospace engineering
This paper addresses the kinematic structure and workspace analysis of a parallel manipulator with linear actuators considering two studies.The first one was based on a morphological synthesis in which a kinematic connections approach was implemented. The set of combinations of joints and links for the desired system and their linkage are illustrated. Finally, the development regarding the conceivable morphologyis detailed, providing three linear degrees of freedom between the mobile and fixed platforms. The second study presented the dimensional synthesis of the manipulator, considering a workspace required and an input transmission index. The geometrical design was based on the maximum inscribed workspace volume; the cylindrical shape radius inscribed on a workspace intersection is also exemplified. The geometric determination of the workspace for the manipulator was demonstrated using computer-aided design. A design result of the Delta as checked with the stiffness and condition indices.