During the latest years the robots with Delta 3DOF parallel structure began to be used more and more in high accuracy applications, due to their advantages: high stiffness, availability for usage at high rates of speed and acceleration [1, . Obviously, for the high accuracy applications the elaboration of new analysis methods of the positioning accuracy is imposed. Further to the deviations of the element dimensions in the structure of the kinematical couplings or wear, perturbing influences may occur on the positioning accuracy. This work approaches the influence of the maximum clearance in the kinematical couplings on the positioning accuracy and its repartition on the work space of the robots with Delta 3DOF parallel structure, by using a method that has numerical solution.
In the field of manufacturing processes it is observed that the trend is to produce more and more fast, efficiently parts with high complexity, which involves using a high number of tools in the machining process. One of the main solutions for high speed and efficient manufacturing is based on the full automation of the entire manufacturing process. The automatic changing of the tools involved in the manufacturing process is carried out by the automatic tool changing mechanism, thus the auxiliary non-productive time consumed with the tool change is highly minimized. In this paper we present a novel automatic tool changer which is both simple and compact, and any milling machining center provided with chain or disc tool magazine can be equipped with. Also by adopting the use of this tool changing mechanism other subassemblies of the tool changing system, such as the tool transfer mechanism and the waiting position, are substituted by this changing mechanism. The auxiliary movements needed to bring the tool from the magazine into the waiting position are overlapped with the machining time, so that the total time for exchanging the tool in the spindle with the tool from the magazine is minimized.
During the latest years the parallel structure robots have been used more and more due to their advantages that consist of: high stiffness, availability for usage at higher speed and acceleration rates. In general these robots are used for handling light objects [. For choosing the driving servomotors of the robots, the maximum torques needed for the parallel mechanism to transport an object of a certain weight, along a trajectory, at a certain speed and acceleration, have to be considered. In this work the authors are approaching the study of the variation of the driving torques of the robots with parallel structure Delta 3DOF along a trajectory, in order to select the driving servomotors [2]. For analyzing the driving torque variations along a trajectory the MSC Adams software pack has been used.
During the latest years, the robots<strong> </strong>that include mechanisms with Delta 3DOF parallel structure attracted the attention of the university research centers due to their unexploited potential. Besides the advantages given by the Delta 3DOF parallel structure, there is a series of disadvantages too. A significant disadvantage is the fact that the workspace is limited. Under these conditions, the studies on determining and improving the workspace got intensified lately. This work is presenting a study on determining the workspace of a parallel structure Delta 3DOF, by using a method that digitizes the angular position parameters of the active kinematical couplings.
In the last years, robots with Delta DOF structure are more and more used in applications of high precision because of their advantages such as: high rigidity, they can be used at high degrees of speed and acceleration. Recently, the robots with Delta 3 DOF parallel structure have been used in the 3D printer’s field. Among the characteristics of the industrial robots, the accuracy has an important role in defining the performances of the industrial robots. The parallel structure Delta 3 DOF is actuated through three servomotor with gearbox. Because the driving systems introduce a series of errors from the nominal articulated coordinates, the positioning accuracy and repeatability are affected. In this paper, the authors study with experimental methods the means in which the errors introduced by the actuator can influence the positioning accuracy. According to the experimental results, the recommendations imposed were obtained in order to increase the positioning accuracy.
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