Estrategia de optimización para la síntesis dimensional de un robot paralelo5R para una aplicación de mesa de corte

Ramirez-Matheus, Antonio; Díaz‐Rodríguez, Miguel; González‐Estrada, Octavio Andrés

doi:10.18273/revuin.v16n2-2017018

Cited by 10 publications

(3 citation statements)

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“…We estimate the workspace of the PM using a numerical approximation similar to the approach used in Ref. [28]. First, we define a given box with a size greater than the estimated size of the PM.…”

Section: Workpace and Manipulability Indexmentioning

confidence: 99%

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Araujo-Gómez

Díaz‐Rodríguez

Mata

et al. 2019

J Braz. Soc. Mech. Sci. Eng.

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The need of a device providing two translational (2T) and two rotational (2R) movements led us to the design a 3UPS-1RPU parallel manipulator. The manipulator consisted on a mobile platform connected to a base through four legs. That is, the manipulator layout has one central leg and three external legs at the same radial distance. By studying different locations of the legs anchoring point, we improved the first layout design, yet not the optimal one. On this basis, this paper focus on the optimal dimensional design of the manipulator. To this end, we put forward the kinematics equations of the manipulator in accordance to the anchoring points coordinates. Through a numerical approach, the equations enable to find the manipulator workspace. Also, we find a global manipulability index using a local dexterity measure. The latter index serves as optimal function. The optimization process considers joint constraints. Thus, we built a nonlinear optimization problem solved through sequential quadratic programming algorithms. We start by optimizing only a small set of parameters rather than the entire set, which gives us insights on the initial guess to optimize using the entire set. The optimal design layout varies from the original layout. Findings suggest that a task-oriented reconfiguration strategy can improve manipulator performance.

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Section: Workpace and Manipulability Indexmentioning

confidence: 99%

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Araujo-Gómez

Díaz‐Rodríguez

Mata

et al. 2019

J Braz. Soc. Mech. Sci. Eng.

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“…The number of simulations needed within a Monte Carlo analysis to obtain a stable output of the results depends to a large extent on the variability of the input data. [12,13]. Figures 3, 4, 5 and 6 show the histograms of the ultimate load for 100 and 200 simulations, respectively.…”

Section: Sensitivity Analysismentioning

confidence: 99%

Análisis de sensibilidad de un miembro a compresión vía el método de Monte Carlo

Martínez¹,

Casanova²,

Graciano

et al. 2018

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Vol. 17, n° 2, pp. 179-184, 2018 Revista UIS Ingenierías AbstractThe present work studies the application of a probabilistic methodology in the sensitivity analysis of a steel column to identify the dominant parameters in its load capacity. Monte Carlo type simulations, in combination with the finite element method, was carried out to achieve the proposed objective. The geometric nonlinearity in the model was considered in order to reflect large deflections and initial geometric imperfections. The results show that the sensitivity of the column to a specific input parameter depends on the slenderness ratio and, hence, the column will be more sensitive to one parameter or another depending on that relationship.Keywords: buckling load; finite element analysis; stochastic modelling; modal analysis. ResumenEn este trabajo se presenta un estudio probabilístico para el análisis de sensibilidad de una columna de acero, con el fin de identificar los parámetros que más afectan su capacidad de carga. Se llevaron a cabo simulaciones tipo Monte Carlo, en combinación con simulaciones numéricas, mediante el uso del método de elementos finitos. En el modelo numérico, se consideró la no linealidad geométrica, con el objeto de considerar grandes desplazamientos e imperfecciones geométricas iniciales. Los resultados muestran que la sensibilidad de la columna a una variable de entrada específica depende de la relación de esbeltez, y, por lo tanto, la columna será más sensible a una variable u otra en función de esa relación.Palabras clave: carga de pandeo; análisis por elementos finitos; modelado estocástico; análisis modal.

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“…La síntesis dimensional se sirve de optimizaciones, donde los requerimientos de diseño se traducen en funciones objetivo evaluadas en el espacio de diseño [6], como es el caso del robot paralelo plano 5R que se ha dimensionado usando algoritmos genéticos para optimizar el espacio de trabajo y la destreza del robot [7]. Los índices de desempeño también sirven en la síntesis topológica, donde se comparan robots paralelos evaluando índices relacionados con velocidad, capacidad de carga y rigidez [8].…”

Section: Introductionunclassified

Diseño cinemático de un robot paralelo 2-PRR

et al. 2020

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In civil construction Abstract— This paper presents a dimensional synthesis for a 2-PRR planar parallel robot with a structural plane of symmetry. This robot can achieve the translation of the moving platform without changing the orientation, being useful for applications that require controlled positions with high rigidity. Because the performance of parallel robots is highly sensitive to their geometric parameters, many methodologies to state the dimensional synthesis has been developed. We used the method of Parameter - Finiteness Normalization Method (PFNM) to state the dimensional synthesis using Global Condition Index (GCI) and workspace ( ) design atlases. For the two, GCI and , designed atlases, it is not possible to maximize one of the indexes without diminishing the other one, which represents a design compromise. Also, we remark singular configurations that are coming from specific geometry or limit positions. The complete dimensional synthesis is also presented.

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Estrategia de optimización para la síntesis dimensional de un robot paralelo5R para una aplicación de mesa de corte

Cited by 10 publications

References 10 publications

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Análisis de sensibilidad de un miembro a compresión vía el método de Monte Carlo

Diseño cinemático de un robot paralelo 2-PRR

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