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Conference papers

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

Abstract : 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.
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Submitted on : Thursday, March 12, 2020 - 11:23:19 AM
Last modification on : Saturday, May 1, 2021 - 3:49:58 AM
Long-term archiving on: : Saturday, June 13, 2020 - 2:34:15 PM

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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⟩

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