Designing parallel manipulators: from specifications to a real prototype

作者：Hernandez Alfonso; Altuzarra Oscar; Salgado Oscar; Pinto Charles; Petuya Victor^*

来源：Industrial Robot, 2012, 39(5): 500-512.

DOI：10.1108/01439911211249797

• Robotics
• Optimum design
• Prototypes
• Parallel robot
• Design methodology
• Kinematics
• Dynamics
• Stiffness

Purpose - The purpose of this paper is to present a step-by-step methodology for the design of parallel kinematic machines (PKMs), from the initial stages of the conceptual definition of a new machine to an optimum design fulfilling the complete set of design requirements. %26lt;br%26gt;Design/methodology/approach - The methodology includes consideration of the kinematic, static and dynamic features required for the manipulator, which must all be assessed in complete industrial design. It is applied to a 4-degrees-of-freedom (DOF) Schonflies motion generator for pick %26 place operations by way of example. %26lt;br%26gt;Findings - The authors specify the key stages of a detailed design procedure for parallel manipulators. %26lt;br%26gt;Originality/value - There are many publications on the development of specific robots and parallel manipulators based on their particular characteristics. However, it is relatively rare to find a paper on the general procedure with a step-by-step methodology applicable to any parallel manipulator.

• 出版日期2012