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Improvement, Optimization, and Prototyping of a Three Translational Degree of Freedom Parallel Robot

[+] Author Affiliations
Jonathan Hodgins, Dan Zhang

University of Ontario Institute of Technology, Oshawa, ON, Canada

Paper No. DETC2012-70680, pp. 525-534; 10 pages
doi:10.1115/DETC2012-70680
From:
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME

abstract

This paper presents an evolutionarily design change for the Delta parallel robot. The proposed design change increases the useful workspace of the robot and aids in permanently avoiding singularities on the workspace. This is accomplished by means of a new intermediate parallel link.

This also simultaneously increases the total workspace volume and the stiffness at the outer limits of the workspace.

The design is analyzed and the inverse kinematics, stiffness and dexterity relations are formulated. Subsequently, an optimization problem is formulated that aims at taking advantage of the new attributes and illustrate its benefits to the robotic design. The results are clearly illustrated by comparing the robot with the new link to an equivalent robot without it.

Lastly, the developed design is 3D modeled to test and verify functionality.

Copyright © 2012 by ASME

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