Improvement, optimization, and prototyping of a three translational degree of freedom parallel robot

Jonathan Hodgins; Dan Zhang

doi:10.1115/DETC2012-70680

Improvement, optimization, and prototyping of a three translational degree of freedom parallel robot

Jonathan Hodgins
, Dan Zhang

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

1 Citation (Scopus)

Abstract

This paper presents an evolutionarily design change for the Delta parallel robot. The proposed design change increases the useful workspace of the robot and aids in permanently avoiding singularities on the workspace. This is accomplished by means of a new intermediate parallel link. This also simultaneously increases the total workspace volume and the stiffness at the outer limits of the workspace. The design is analyzed and the inverse kinematics, stiffness and dexterity relations are formulated. Subsequently, an optimization problem is formulated that aims at taking advantage of the new attributes and illustrate its benefits to the robotic design. The results are clearly illustrated by comparing the robot with the new link to an equivalent robot without it. Lastly, the developed design is 3D modeled to test and verify functionality.

Original language	English
Title of host publication	36th Mechanisms and Robotics Conference
Publisher	American Society of Mechanical Engineers(ASME)
Pages	525-534
Number of pages	10
Edition	PARTS A AND B
ISBN (Print)	9780791845035
DOIs	https://doi.org/10.1115/DETC2012-70680
Publication status	Published - 2012
Externally published	Yes
Event	ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 - Chicago, IL, United States Duration: 12 Aug 2012 → 12 Aug 2012

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Number	PARTS A AND B
Volume	4

Conference

Conference	ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
Country/Territory	United States
City	Chicago, IL
Period	12/08/12 → 12/08/12

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

ASJC Scopus subject areas

Modelling and Simulation
Mechanical Engineering
Computer Science Applications
Computer Graphics and Computer-Aided Design

More information

10.1115/DETC2012-70680

Cite this

Hodgins, J., & Zhang, D. (2012). Improvement, optimization, and prototyping of a three translational degree of freedom parallel robot. In 36th Mechanisms and Robotics Conference (PARTS A AND B ed., pp. 525-534). (Proceedings of the ASME Design Engineering Technical Conference; Vol. 4, No. PARTS A AND B). American Society of Mechanical Engineers(ASME). https://doi.org/10.1115/DETC2012-70680

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title = "Improvement, optimization, and prototyping of a three translational degree of freedom parallel robot",

abstract = "This paper presents an evolutionarily design change for the Delta parallel robot. The proposed design change increases the useful workspace of the robot and aids in permanently avoiding singularities on the workspace. This is accomplished by means of a new intermediate parallel link. This also simultaneously increases the total workspace volume and the stiffness at the outer limits of the workspace. The design is analyzed and the inverse kinematics, stiffness and dexterity relations are formulated. Subsequently, an optimization problem is formulated that aims at taking advantage of the new attributes and illustrate its benefits to the robotic design. The results are clearly illustrated by comparing the robot with the new link to an equivalent robot without it. Lastly, the developed design is 3D modeled to test and verify functionality.",

author = "Jonathan Hodgins and Dan Zhang",

year = "2012",

doi = "10.1115/DETC2012-70680",

language = "English",

isbn = "9780791845035",

series = "Proceedings of the ASME Design Engineering Technical Conference",

publisher = "American Society of Mechanical Engineers(ASME)",

number = "PARTS A AND B",

pages = "525--534",

booktitle = "36th Mechanisms and Robotics Conference",

address = "United States",

edition = "PARTS A AND B",

note = "ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 ; Conference date: 12-08-2012 Through 12-08-2012",

}

Hodgins, J & Zhang, D 2012, Improvement, optimization, and prototyping of a three translational degree of freedom parallel robot. in 36th Mechanisms and Robotics Conference. PARTS A AND B edn, Proceedings of the ASME Design Engineering Technical Conference, no. PARTS A AND B, vol. 4, American Society of Mechanical Engineers(ASME), pp. 525-534, ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012, Chicago, IL, United States, 12/08/12. https://doi.org/10.1115/DETC2012-70680

Improvement, optimization, and prototyping of a three translational degree of freedom parallel robot. / Hodgins, Jonathan; Zhang, Dan.
36th Mechanisms and Robotics Conference. PARTS A AND B. ed. American Society of Mechanical Engineers(ASME), 2012. p. 525-534 (Proceedings of the ASME Design Engineering Technical Conference; Vol. 4, No. PARTS A AND B).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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AB - This paper presents an evolutionarily design change for the Delta parallel robot. The proposed design change increases the useful workspace of the robot and aids in permanently avoiding singularities on the workspace. This is accomplished by means of a new intermediate parallel link. This also simultaneously increases the total workspace volume and the stiffness at the outer limits of the workspace. The design is analyzed and the inverse kinematics, stiffness and dexterity relations are formulated. Subsequently, an optimization problem is formulated that aims at taking advantage of the new attributes and illustrate its benefits to the robotic design. The results are clearly illustrated by comparing the robot with the new link to an equivalent robot without it. Lastly, the developed design is 3D modeled to test and verify functionality.

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ER -

Improvement, optimization, and prototyping of a three translational degree of freedom parallel robot

Abstract

Publication series

Conference

UN SDGs

ASJC Scopus subject areas

More information

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