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Kinematic optimization of a 2DoF PRRRP manipulator

GIBERTI, HERMES;LEGNANI, Giovanni
2017-01-01
2017
Mechanisms and Machine Science
Ateneo di appartenenza
PE7_10 Robotics
PE8_8 Mechanical and manufacturing engineering (shaping, mounting, joining, separation)
MECHANISMS AND MACHINE SCIENCE
WOS:000398025600030
2-s2.0-84996848901
Esperti anonimi
Inglese
1st International Conference of IFToMM ITALY, IFIT 2016
2016
ita
47
277
285
9
9783319483740
Kluwer Academic Publishers
Parallel Kinematic Machines (PKM) are interesting in industrial field because of their ability to ensure high dynamic performance, stiffness, accuracy and precision. One of the options in the design of a manipulator is the opportunity to ensure isotropy performance within the workspace. Generally each PKM has a limited number of isotropy configurations. This paper shows that some 2 DoF PKMs may be designed to have an infinite numbers of kinematic configurations that constitute one or more continuous loci. These machines have the possibility to work at (or near) their ideal kinematic conditions in a large part of their working area. The paper presents a methodology to graphically identify the points of isotropy of a planar manipulator and defines the geometrical conditions to maximize their number.
Mechanics of Materials; Mechanical Engineering
http://www.springer.com/series/8779
no
restricted
Cinquemani, Simone; Giberti, Hermes; Legnani, Giovanni
273
info:eu-repo/semantics/conferenceObject
3
4 Contributo in Atti di Convegno (Proceeding)::4.1 Contributo in Atti di convegno
4.1 Contributo in Atti di convegno
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11379/490366
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