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Morphological Synthesis and workspace design for a parallel manipulator with linear actuators
Síntesis morfológica y dimensional de un manipulador paralelo con actuadores lineales
DOI:
https://doi.org/10.15446/dyna.v87n213.80676Palabras clave:
dimensional synthesis, kinematics design, morphological synthesis, parallel manipulator, workspace (en)diseño cinemático, espacio de trabajo, manipulador paralelo, síntesis dimensional, síntesis morfológica (es)
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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 morphology
is 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.
Este artículo aborda el análisis cinemático y el espacio de trabajo de un manipulador paralelo con actuadores lineales considerando dos estudios. El primero trata sobre la síntesis morfológica, implementando un acercamiento por medio del método de juntas cinemáticas. Son ilustrados el conjunto de combinaciones de las juntas y pares para el sistema deseado y sus relaciones. Finalmente, se detalla el desarrollo de la morfología concebida, la cual provee tres grados de libertad lineales entre la plataforma fija y móvil. El segundo estudio presenta la síntesis dimensional del manipulador, considerando un espacio de trabajo requerido y un índice de trasmisión de entrada. El diseño geométrico utiliza el máximo volumen de trabajo inscrito; se muestra la geometría cilíndrica inscrita en la intersección con espacio de trabajo. Se determina la geometría del espacio de trabajo utilizando CAD y el diseño resultante del Delta es verificado con el índice de rigidez y de condición.
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