Design Criteria of 2-DOF Planar Parallel Manipulator with Flexible Joints

F. A. Lara-Molina (1) , E. H. Koroishi (1) , Didier Dumur (2)

1 Department of Mechanical and Materials Engineering
2 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.

Keywords: Parallel Robot; Design Criteria; Flexible Joints; Dynamics

Domains: Automatic

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⟩