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Design Criteria of 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 - 11:27:54 AM
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F. A. Lara-Molina, E. H. Koroishi, Didier Dumur. Design Criteria of 2-DOF Planar Parallel Manipulator with Flexible Joints. 12th IEEE/IAS International Conference on Industry Applications (INDUSCON), Nov 2016, Curitiba, Brazil. ⟨hal-02307599⟩

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