Design criteria of a 2-DOF planar parallel manipulator with flexible joints

Fabian Andres Lara-Molina , E.H. Koroishi , Didier Dumur (1)

1 L2S - Laboratoire des signaux et systèmes

Design criteria of the parallel robots are required in order to perform the optimal design. This paper aims at proposing optimal design criteria for a planar parallel robot with flexible joints. Consequently, dynamic and elastodynamic criteria are examined with the purpose of analyzing their behavior as a function of the design variables that are the lengths of the links of the robot. The dynamic and elastodynamic design criteria are evaluated numerically.

Domains: Engineering Sciences [physics]

Fabian Andres Lara-Molina, E.H. Koroishi, Didier Dumur. Design criteria of a 2-DOF planar parallel manipulator with flexible joints. Proceedings 12th IEEE International Conference on Industry Applications INDUSCON, Nov 2016, Curitiba, Brazil. ⟨10.1109/INDUSCON.2016.7874544⟩. ⟨hal-01644825⟩