Parallel Continuum Delta: On the Performance Analysis of Flexible Quasi-Translational Robots

In the field of rigid parallel manipulators, the Delta parallel robot is one of the most popular choices in the industry due to its ability to adapt to a wide range of applications, particularly pick-and-place tasks. In this paper, the authors present novel designs of Delta-type continuum parallel m...

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Autores: Altuzarra Maestre, Oscar, Urízar Arana, Mónica, Hernández Frías, Alfonso, Amezua San Martín, Enrique
Formato: artículo
Fecha de publicación:2024
País:España
Recursos:Universidad del País Vasco
Repositorio:Addi. Archivo Digital para la Docencia y la Investigación
OAI Identifier:oai:addi.ehu.eus:10810/70416
Acesso em linha:http://hdl.handle.net/10810/70416
Access Level:acceso abierto
Palavra-chave:parallel continuum manipulators
cosserat rods
parasitic angle
workspace
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spelling Parallel Continuum Delta: On the Performance Analysis of Flexible Quasi-Translational RobotsAltuzarra Maestre, OscarUrízar Arana, MónicaHernández Frías, AlfonsoAmezua San Martín, Enriqueparallel continuum manipulatorscosserat rodsparasitic angleworkspaceIn the field of rigid parallel manipulators, the Delta parallel robot is one of the most popular choices in the industry due to its ability to adapt to a wide range of applications, particularly pick-and-place tasks. In this paper, the authors present novel designs of Delta-type continuum parallel manipulators with flexible bars, solving both their direct and inverse kinematics, as well as obtaining the associated workspace. The continuum parallel manipulators, unlike conventional robots, incorporate certain flexible elements, such as slender rods that make up the kinematic chains of the Delta manipulators proposed in this work. As a consequence of the flexibility of these rods, a purely translational movement will not be generated, since it is necessary to analyze the zones of the workspace where a parasitic motion related to the inclination of the moving platform compromises the task devised. In addition, an experimental prototype of the Keops-Delta continuum manipulator has been built, and several experimental tests have been carried out to validate the proposed theoretical model.The authors wish to acknowledge the financial support received from the Spanish Government through the Ministerio de Ciencia e Innovación (Project PID2020-116176GB-I00) financed by MCIN/AEI/10.13039/501100011033 and the support for the research group through Project IT1480-22 provided by the Departamento de Educación from the Regional Basque Government.MDPI2024202420242024info:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10810/70416reponame:Addi. Archivo Digital para la Docencia y la Investigacióninstname:Universidad del País VascoInglésinfo:eu-repo/grantAgreement/MICINN/PID2020-116176GB-I00/https://www.mdpi.com/2076-3417/14/21/9744info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by/4.0/es/© 2024 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/ 4.0/).oai:addi.ehu.eus:10810/704162026-06-18T09:23:17Z
dc.title.none.fl_str_mv Parallel Continuum Delta: On the Performance Analysis of Flexible Quasi-Translational Robots
title Parallel Continuum Delta: On the Performance Analysis of Flexible Quasi-Translational Robots
spellingShingle Parallel Continuum Delta: On the Performance Analysis of Flexible Quasi-Translational Robots
Altuzarra Maestre, Oscar
parallel continuum manipulators
cosserat rods
parasitic angle
workspace
title_short Parallel Continuum Delta: On the Performance Analysis of Flexible Quasi-Translational Robots
title_full Parallel Continuum Delta: On the Performance Analysis of Flexible Quasi-Translational Robots
title_fullStr Parallel Continuum Delta: On the Performance Analysis of Flexible Quasi-Translational Robots
title_full_unstemmed Parallel Continuum Delta: On the Performance Analysis of Flexible Quasi-Translational Robots
title_sort Parallel Continuum Delta: On the Performance Analysis of Flexible Quasi-Translational Robots
dc.creator.none.fl_str_mv Altuzarra Maestre, Oscar
Urízar Arana, Mónica
Hernández Frías, Alfonso
Amezua San Martín, Enrique
author Altuzarra Maestre, Oscar
author_facet Altuzarra Maestre, Oscar
Urízar Arana, Mónica
Hernández Frías, Alfonso
Amezua San Martín, Enrique
author_role author
author2 Urízar Arana, Mónica
Hernández Frías, Alfonso
Amezua San Martín, Enrique
author2_role author
author
author
dc.subject.none.fl_str_mv parallel continuum manipulators
cosserat rods
parasitic angle
workspace
topic parallel continuum manipulators
cosserat rods
parasitic angle
workspace
description In the field of rigid parallel manipulators, the Delta parallel robot is one of the most popular choices in the industry due to its ability to adapt to a wide range of applications, particularly pick-and-place tasks. In this paper, the authors present novel designs of Delta-type continuum parallel manipulators with flexible bars, solving both their direct and inverse kinematics, as well as obtaining the associated workspace. The continuum parallel manipulators, unlike conventional robots, incorporate certain flexible elements, such as slender rods that make up the kinematic chains of the Delta manipulators proposed in this work. As a consequence of the flexibility of these rods, a purely translational movement will not be generated, since it is necessary to analyze the zones of the workspace where a parasitic motion related to the inclination of the moving platform compromises the task devised. In addition, an experimental prototype of the Keops-Delta continuum manipulator has been built, and several experimental tests have been carried out to validate the proposed theoretical model.
publishDate 2024
dc.date.none.fl_str_mv 2024
2024
2024
2024
dc.type.none.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10810/70416
url http://hdl.handle.net/10810/70416
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv info:eu-repo/grantAgreement/MICINN/PID2020-116176GB-I00/
https://www.mdpi.com/2076-3417/14/21/9744
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by/4.0/es/
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by/4.0/es/
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:Addi. Archivo Digital para la Docencia y la Investigación
instname:Universidad del País Vasco
instname_str Universidad del País Vasco
reponame_str Addi. Archivo Digital para la Docencia y la Investigación
collection Addi. Archivo Digital para la Docencia y la Investigación
repository.name.fl_str_mv
repository.mail.fl_str_mv
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