Elements of Synthesis and Experiment for Parallel Robots

Abstract:

Parallel robots have received special interest due to their advantages over conventional serial mechanisms: high rigidity, high load capacity, high velocity and high precision. The parallel robot is a mechatronic system and requires to be designed in the spirit of the mechatronic philosophy. The use of a parallel robot in a given application requires a careful analysis of the structure and of the indispensable parameters. Structural synthesis of mechanisms for parallel robots is addressed in detail. This paper proposes a method of structural synthesis of the parallel robotic mechanism according to the concept of the mechatronic philosophy and of the kinematic connections. The authors offer a system for analyzing the robot performances based on the 3D CompuGauge equipment.

• Periodical: Applied Mechanics and Materials (Volume 162)
• Pages: 549-558
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.162.549
• Online since: March 2012
• Authors: Valer Dolga, Lia Dolga
• Keywords: Calibration, Kinematic Connection, Mechatronic Design, Morphologic Table, Parallel Robot, Synthesis

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