Dimensional Synthesis of Parallel Robots: Unified Kinematics and Dynamics using Full Kinematic Constraints

verfasst von

Moritz Schappler, Tobias Ortmaier

Abstract

A variety of different structures for parallel kinematic machines (PKM) have been found by means of systematic structural synthesis. To find the structure that is suited best for a specific task, an efficient and generic selection method is necessary. For simple structures with multi-degree-of-freedom joints like the Gough-Stewart robot, methods for modeling and dimensional optimization are well established. Less methods are available for more complex structures with single-degree-of-freedom joints. This contribution combines general approaches for the modeling of the kinematics and dynamics of parallel robots to obtain an efficient dimensional synthesis of PKM.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Publikationsdatum

2020

Publikationsstatus

Veröffentlicht

Elektronische Version(en)

https://doi.org/10.17185/duepublico/71211 (Zugang: Offen)