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Memorias de investigación
Communications at congresses:
DImensional Synthesis of a 3PSU-1S Parallel Manipulator
Year:2011
Research Areas
  • Engineering
Information
Abstract
The synthesis of a mechanism involves two main topics: the structural synthesis and the dimensional synthesis. Dimensional synthesis consists in determining the kinematic parameters that optimize a performance index or satisfy some design requirements. In this paper, we present the dimensional synthesis of a 3PSU-1S Parallel Manipulator (PM). First, the inverse kinematics and instantaneous kinematics of the mechanism are presented. The latter one is found using the screw theory formulation. An algorithm that explores all the different sets of parameters and determines the corresponding value of an objective function is presented. The objective function is proportional to the volume of the workspace and a global kinetostatic performance index. We compare the results obtained when using two different global performance indexes. Simulation results are shown, a prototype with the best set of parameters is presented and its maximum range of workspace is determined.
International
No
Congress
ROBOT2011, Robótica Experimental
960
Place
Sevilla, España
Reviewers
Si
ISBN/ISSN
0000000000
Start Date
28/11/2011
End Date
29/11/2011
From page
181
To page
189
ROBOT2011, Robótica Experimental 213
Participants
  • Autor: Lisandro Jose Puglisi . (UPM)
  • Autor: Roque Jacinto Saltaren Pazmiño (UPM)
  • Autor: Hector Moreno Avalos (UPM)
  • Autor: Pedro Fabian Cardenas Herrera (UPM)
  • Autor: Cecilia Elisabet Garcia Cena (UPM)
  • Autor: Rafael Aracil Santonja (UPM)
  • Autor: Carlos Pérez De la Fuente (UPM)
Research Group, Departaments and Institutes related
  • Creador: Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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