This paper presents a design procedure for a two degree-of-freedom (DOF) translational parallel manipulator, named IRSBot-2. This design procedure aims at determining the optimal design parameters of the IRSBot-2 such that the robot can reach a velocity equal to 6 m/s, an acceleration up to 20 G, and a multidirectional repeatability up to 20 μm throughout its operational workspace. Besides, contrary to its counterparts, the stiffness of the IRSBot-2 should be very high along the normal to the plane of motion of its moving platform. A semi-industrial prototype of the IRSBot-2 has been realized based on the obtained optimum design parameters. This prototype and its main components are described in the paper. Its accuracy, repeatability, elasto-static performance, dynamic performance, and elasto-dynamic performance have been measured and analyzed as well. It turns out that the IRSBot-2 has globally reached the prescribed specifications and is a good candidate to perform very fast and accurate pick-and-place operations.
Design Procedure for a Fast and Accurate Parallel Manipulator
Manuscript received May 2, 2017; final manuscript received September 8, 2017; published online October 9, 2017. Assoc. Editor: Byung-Ju Yi.
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Briot, S., Caro, S., and Germain, C. (October 9, 2017). "Design Procedure for a Fast and Accurate Parallel Manipulator." ASME. J. Mechanisms Robotics. December 2017; 9(6): 061012. https://doi.org/10.1115/1.4038009
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