Synthesis of spatial RPRP closed linkages for a given screw system
The dimensional synthesis of spatial chains for a prescribed set of positions can be applied to the design of parallel robots by joining the solutions of each serial chain at the end-effector. This design method does not provide with the knowledge about the trajectory between task positions and, in...
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2011 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/14663 |
| Acceso en línea: | https://hdl.handle.net/2117/14663 https://dx.doi.org/10.1115/1.4003846 |
| Access Level: | acceso abierto |
| Palabra clave: | Robots -- Dynamics Robots -- Dinàmica Classificació INSPEC::Automation::Robots::Robot kinematics Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | The dimensional synthesis of spatial chains for a prescribed set of positions can be applied to the design of parallel robots by joining the solutions of each serial chain at the end-effector. This design method does not provide with the knowledge about the trajectory between task positions and, in some cases, may yield a system with negative mobility. These problems can be avoided for some overconstrained but movable linkages if the finite-screw system associated with the motion of the linkage is known. The finite-screw system defining the motion of the robot is generated by a set of screws, which can be related to the set of finite task positions traditionally used in the synthesis theory. The interest of this paper lies in presenting a method to define the whole workspace of the linkage as the input task for the exact dimensional synthesis problem. This method is applied to the spatial RPRP closed linkage, for which one solution exists. |
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