A new isotropic and decoupled 6-DoF parallel manipulator

Legnani, Giovanni; Fassi, Irene; Giberti, Hermes; Cinquemani, Simone; Tosi, Diego

doi:10.1016/j.mechmachtheory.2012.07.008

Cited by 37 publications

(35 citation statements)

References 53 publications

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“…In order to normalize all the terms of the jacobian matrix and to consider the isotropy of the machine it's necessary to use a scale factor defined as characteristic length. The study of the isotropy of PKMs depending on their design parameters is a field in which many researchers are involved [5,6].The characteristic length is defined in many ways in literature, in this paper the definition provided by Fassi and Legnani in [7] is used. This parameter allows to define a normalized Jacobian matrix which is used for the formulation of the kinetostatic constraint and is denoted as ‫ܬ[‬ ].…”

Section: Kinetostaticmentioning

confidence: 99%

Optimization and comparison between two 6-DoF parallel kinematic machines for HIL simulations in wind tunnel

Fiore

Giberti

2016

MATEC Web of Conferences

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Abstract. Parallel Robots are for sure the best choice for those applications in which a high accuracy and a high stiffness are required. As a matter of fact the closed-loop kinematic chains that characterize these machines guarantee a very low sensitivity of the end-effector position to the various sources of error. However the working volume of parallel kinematic machines is in general limited with respect to their dimensions. Moreover the reduced mobility range of the passive joints represents a critical aspect that cannot be underestimated. For these reasons PKMs should be optimized for the application they are meant.Given the specifications of the workspace that the machine should be able to cover, it's necessary to identify an architecture that is suitable for this specific task. This paper describes the optimization process and the comparison between two candidates, the Hexaslide and the Gough-Stewart platform, in order to find out which one is the best choice for a task that requires to reproduce the hydrodynamic effect of sea waves at the bottom of scale models of off-shore wind turbines and boats during HIL simulations in the wind tunnel of the Politecnico di Milano.

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Section: Kinetostaticmentioning

confidence: 99%

Optimization and comparison between two 6-DoF parallel kinematic machines for HIL simulations in wind tunnel

Fiore

Giberti

2016

MATEC Web of Conferences

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“…However, this type of robots, has been adopted in the last decades for motion simulators, vibrating tables, positioning and pointing systems. Accordingly, due to the strong dependency of the performance of a PKM robot on its kinematic topology and its dimensions (Merlet J.P. [14], Weck M. & Staimer D. [15], Legnani G. [16] and Giberti H. [17]), a multi-objective task-oriented customization was necessary to meet the specification of Tab.1.…”

Section: Robot Design Processmentioning

confidence: 99%

Design of a 6-DoF Robotic Platform for Wind Tunnel Tests of Floating Wind Turbines

et al. 2014

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Sophisticated computational aero-hydro-elastic tools are being developed for simulating the dynamics of Floating Offshore Wind Turbines (FOWTs). The reliabilty of such prediction tools for designers requires experimental validation. To this end, due to the lack of a large amount of full scale data available, scale tests represent a remarkable tool. Moreover, due to the combined aerodynamic and hydrodynamic contributions to the dynamics of FOWTs, experimental tests should take into account both. This paper presents the design process of a 6-Degrees-of-Freedom robot for simulating the dynamics of FOWTs in wind tunnel scale experiments, as a complementary approach with respect to ocean wind-wave basin scale tests. Extreme events were considered for the definition of the robot requirements and performance. A general overview on the possible design solutions is reported, then the machine architecture as well as the kinematic and dynamic analysis is discussed. Also a motion task related to a 5-MW Floating Offshore Wind Turbine nominal operating condition was considered and then the ability of the robot to reproduce such motions verified in terms of maximum displacements, forces and power, to be within the design boundaries.

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“…It has the same form as the Jacobian matrix of the Gough-Stewart platform. It is worth noting that to compute the force multiplication in this way corresponds to use a constant characteristic length equal to 1 m for the Jacobian normalization [14], [15], [16].…”

Section: Objectives Definitionsmentioning

confidence: 99%

A genetic algorithm approach to the kinematic synthesis of a 6-DoF parallel manipulator

Ferrari

Giberti

2014

2014 IEEE Conference on Control Applications (CCA)

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The main applications where parallel robots are used remain until today very limited. The best known examples include flight simulators, large vibrating tables for seismic tests, pointing systems of antennas and telescopes mirrors. Common to all these robotic devices are: (1) high accuracy, (2) high velocities and accelerations, and (3) high loading capabilities: the robot itself becomes the supporting structure.This paper presents the kinetostatic synthesis for the realization of a six degrees of freedom robotic platform with Hexaglide parallel architecture. The kinetostatic synthesis was achieved through a multi-objective optimization of the geometrical parameters with a genetic algorithm. The objectives to be achieved are concerned with: (1) the coverage of the desired workspace, (2) the static forces multiplication, (3) the longitudinal size, (4) the link-to-link interference, and (5) the link-to-rail interference.

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A new isotropic and decoupled 6-DoF parallel manipulator

Cited by 37 publications

References 53 publications

Optimization and comparison between two 6-DoF parallel kinematic machines for HIL simulations in wind tunnel

Optimization and comparison between two 6-DoF parallel kinematic machines for HIL simulations in wind tunnel

Design of a 6-DoF Robotic Platform for Wind Tunnel Tests of Floating Wind Turbines

A genetic algorithm approach to the kinematic synthesis of a 6-DoF parallel manipulator

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