Nothing Special   »   [go: up one dir, main page]

Caro et al., 2011 - Google Patents

Multiobjective design optimization of 3–prr planar parallel manipulators

Caro et al., 2011

View PDF
Document ID
2746184886336962824
Author
Caro S
Chablat D
Ur-Rehman R
Wenger P
Publication year
Publication venue
Global Product Development: Proceedings of the 20th CIRP Design Conference, Ecole Centrale de Nantes, Nantes, France, 19th-21st April 2010

External Links

Snippet

This chapter addresses the dimensional synthesis of parallel kinematics machines. A multiobjective optimization problem is proposed in order to determine optimum structural and geometric parameters of parallel manipulators. The proposed approach is applied to the …
Continue reading at hal.science (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50109—Soft approach, engage, retract, escape, withdraw path for tool to workpiece
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM

Similar Documents

Publication Publication Date Title
Kelaiaia et al. Multiobjective optimization of a linear Delta parallel robot
Zhang et al. Kinetostatic analysis and design optimization of the tricept machine tool family
Majou et al. Parametric stiffness analysis of the Orthoglide
Liu Optimal kinematic design of a three translational DoFs parallel manipulator
Song et al. A novel five-degree-of-freedom parallel manipulator and its kinematic optimization
Caro et al. Multiobjective design optimization of 3–prr planar parallel manipulators
Wang et al. Parameter optimization of heavy-load parallel manipulator by introducing stiffness distribution evaluation index
Zhang et al. Parallel kinematic machines: design, analysis and simulation in an integrated virtual environment
Dogra et al. An optimal architectural design for unconventional modular reconfigurable manipulation system
Nouri Rahmat Abadi et al. Singularity-Free Trajectory Planning of a 3-RP RR Planar Kinematically Redundant Parallel Mechanism for Minimum Actuating Effort
Wu Optimal structural design of a Biglide parallel drill grinder
Bi et al. Integrated design toolbox for tripod-based parallel kinematic machines
Zhang et al. Design, analysis and fabrication of a novel three degrees of freedom parallel robotic manipulator with decoupled motions
Krefft et al. Elastodynamic optimization of parallel kinematics
Zhu et al. Effect of links deformation on motion precision of parallel manipulator based on flexible dynamics
Yue et al. Type synthesis of three-degree-of-freedom translational compliant parallel mechanisms
Wolf et al. Investigation of singularities and self-motions of the 3-UPU robot
Liu et al. An approach for acceleration analysis of lower mobility parallel manipulators
Carbone Stiffness analysis for grasping tasks
Chablat et al. Comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach
Rosyid et al. Kinematic performance measures and optimization of parallel kinematics manipulators: a brief review
Arsenault et al. Computation of the Available Force Set of a 3-RP RR Kinematically Redundant Planar Parallel Manipulator
Herrera Pineda et al. Maximum isotropic force capability maps in planar cooperative systems: a practical case study
Zhang et al. Global stiffness and well-conditioned workspace optimization analysis of 3UPU-UPU robot based on Pareto Front theory
Liu et al. Dynamic modelling of lower mobility parallel manipulators