Design Procedure for a Fast and Accurate Parallel Manipulator
Design Procedure for a Fast and Accurate Parallel Manipulator
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DOI：
10.1115/1.4038009
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发表时间：
2017-09
期刊：
影响因子：
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通讯作者：
S. Briot;S. Caro;Coralie Germain
中科院分区：
文献类型：
--
作者：
S. Briot;S. Caro;Coralie Germain
This paper presents a design procedure for a two-degree of freedom 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 multi-directional repeatability} up to 20~$\mu$m 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 the IRSBot-2 has globally reached the prescribed specifications and is a good candidate to perform very fast and accurate pick-and-place operations.
