This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is optimised. In many works, these simplified models are used to propose optimal design of robots. However, the elasticity of the drive system is often negligible in comparison with the elasticity of the elements, especially in applications where high dynamic performances are needed. Therefore, the use of such a simplified model may lead to the creation of robots with long legs, which will be submitted to large bending and twisting deformations. This paper presents an example of manipulator for which it is preferable to use a complete stiffness or vibration model to obtain the most suitable design and shows that the use of simplified models can lead to mechanisms with poorer rigidity.
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ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 30–September 2, 2009
San Diego, California, USA
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4904-0
PROCEEDINGS PAPER
On the Optimal Design of Parallel Robots Taking Into Account Their Deformations and Natural Frequencies
Se´bastien Briot,
Se´bastien Briot
Institut de Recherches en Communications et Cyberne´tique de Nantes (IRCCyN); Ecole des Mines de Nantes, Nantes, France
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Anatol Pashkevich,
Anatol Pashkevich
Institut de Recherches en Communications et Cyberne´tique de Nantes (IRCCyN); Ecole des Mines de Nantes, Nantes, France
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Damien Chablat
Damien Chablat
Institut de Recherches en Communications et Cyberne´tique de Nantes (IRCCyN), Nantes, France
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Se´bastien Briot
Institut de Recherches en Communications et Cyberne´tique de Nantes (IRCCyN); Ecole des Mines de Nantes, Nantes, France
Anatol Pashkevich
Institut de Recherches en Communications et Cyberne´tique de Nantes (IRCCyN); Ecole des Mines de Nantes, Nantes, France
Damien Chablat
Institut de Recherches en Communications et Cyberne´tique de Nantes (IRCCyN), Nantes, France
Paper No:
DETC2009-86230, pp. 367-376; 10 pages
Published Online:
July 29, 2010
Citation
Briot, S, Pashkevich, A, & Chablat, D. "On the Optimal Design of Parallel Robots Taking Into Account Their Deformations and Natural Frequencies." Proceedings of the ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B. San Diego, California, USA. August 30–September 2, 2009. pp. 367-376. ASME. https://doi.org/10.1115/DETC2009-86230
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