This paper presents a procedure for the optimal design of a three degrees of freedom 3-UPU translational manipulator with clearance joints. Given requirements are the desired workspace which has to be free from singularities, the clearance in the joints and a desired accuracy of the output link. Moreover, the direction of the load on the output link according to the manipulator task requirements can be: (i) constant for all configurations or, alternatively, (ii) variable. The target is to find the optimal geometry of the 3-UPU manipulator that satisfies the given requirements. The procedure has two phases. The first one finds a number of potential candidates while the second phase identifies the optimal one according to the required accuracy. This second phase provides different solutions according to which condition (out of the two conditions (i) and (ii) above mentioned) on the load direction is considered. Finally a case study is presented to show the efficiency of the procedure.
Optimal Design of a Pure Translation Manipulator with clearance joints / CHEBBI A. H.; PARENTI CASTELLI V.; ROMDHANE L.. - STAMPA. - (2009), pp. 1-8. (Intervento presentato al convegno CMSM 2009, 3rd World Congress on Design and Modelling of Mechanical Systems tenutosi a Hammamet, Tunisia nel 16-18 March 2009).
Optimal Design of a Pure Translation Manipulator with clearance joints
CHEBBI, AHMED HACHEM;PARENTI CASTELLI, VINCENZO;
2009
Abstract
This paper presents a procedure for the optimal design of a three degrees of freedom 3-UPU translational manipulator with clearance joints. Given requirements are the desired workspace which has to be free from singularities, the clearance in the joints and a desired accuracy of the output link. Moreover, the direction of the load on the output link according to the manipulator task requirements can be: (i) constant for all configurations or, alternatively, (ii) variable. The target is to find the optimal geometry of the 3-UPU manipulator that satisfies the given requirements. The procedure has two phases. The first one finds a number of potential candidates while the second phase identifies the optimal one according to the required accuracy. This second phase provides different solutions according to which condition (out of the two conditions (i) and (ii) above mentioned) on the load direction is considered. Finally a case study is presented to show the efficiency of the procedure.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
