Design optimization of a Delta-like parallel robot through global stiffness performance evaluation

Courteille, Eric; Deblaise, Dominique; Maurine, Patrick

doi:10.1109/iros.2009.5353906

Cited by 48 publications

(37 citation statements)

References 23 publications

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“…Generally, the maximum and minimum eigenvalues, [34][35][36] the determinant, [35] the Euclidean norm of the diagonal elements [37], and the condition number [38] of the stiffness matrix can be accepted as stiffness indices. These indices cannot be interpreted easily, since the translation and orientation of a parallel manipulator have different units.…”

Section: Stiffnessmentioning

confidence: 99%

Optimization design of general triglide parallel manipulators

2016

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Optimization design of parallel manipulators has attracted much interest from researchers in recent years. The reported methodologies attempted to achieve optimal design of parallel manipulators considering several properties, such as dexterity, stiffness, and space utilization, which are important parameters to be considered. However, stiffness analysis considered by many researchers generally ignores the deformation of the mobile platform. For space utilization, there is no reported method to consider the variation in the physical size caused by different postures of the manipulator. Additionally, although optimization of a linear delta and an orthoglide has been presented by several researchers, optimization of a general triglide has not been reported. In order to address these issues, this paper presents a multi-objective optimization addressing dexterity, stiffness, and space utilization of a general triglide. Its stiffness matrix is obtained considering the deformation of mobile platform, limbs, and actuators. A novel stiffness index is used to evaluate its stiffness property considering external wrench applied on the manipulator. The physical size of the triglide is represented using both a constant size and a variable size. Comparing with a reported optimization methodology, it is proven that the proposed method is capable of providing optimal solutions with better properties.

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Section: Stiffnessmentioning

confidence: 99%

Optimization design of general triglide parallel manipulators

2016

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“…The actuators of the rotation head are located on the moving platform of the Delta robot. This 6-DOF Delta robot has recently been developed for pickand-place applications [13] and is used as a surgical tool [14].…”

Section: Manipulator Descriptionsmentioning

confidence: 99%

A method for evaluation and comparison of parallel robots for safe human interaction, applied to robotic TMS

Jong

Stienen

Wijk

et al. 2012

2012 4th IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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Abstract-Transcranial magnetic stimulation (TMS) is a noninvasive method to modify behaviour of neurons in the brain. TMS is applied by running large currents through a coil close to the scalp. For consistent results it is required to maintain the coil position within millimetres of the targeted location, but natural head sway and practitioner fatigue may hinder this.Serial robots are currently used to assist the application of TMS. However, their low stiffness limits the performance and their high moving mass limits the operating speeds for safety reasons. Since 6-DOF parallel robots combine high stiffness with low moving mass, they have potential for fast, safe and accurate positioning required for TMS during activities.For choosing the safest parallel manipulator, we developed an evaluation method using robotic safety criteria, including motor speed, motor acceleration, force transmission, and workspace accuracy. The method is applied for evaluation and comparison of the Delta robot with rotation head, the Hexaglide robot, and the Hexa robot. The Hexa robot shows to have the best safety characteristics.This paper also presents the design and evaluation of four controller strategies for the Hexa robot. These strategies include the application of a straightforward PID control (PID), a PID control with Jacobian Feed-Forward (PID J), a PID control with a Spring Force Control (PID O + ) and a combination of these (PID J O + ).

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“…In the optimization stage, the stiffness matrix is required to be converted to a stiffness index to evaluate the stiffness quality of a parallel manipulator. Generally, the maximum or minimum eigenvalue of the stiffness matrix is used as the stiffness index [19][20][21], since the maximum and minimum eigenvalues present the most and least rigid values in the directions specified by the corresponding eigenvectors. It should be noted that the maximum and minimum eigenvalues are used to define upper and lower bounds of the stiffness.…”

Section: Introductionmentioning

confidence: 99%