In this paper, a parallel mechanism with 3-UPR architecture for a robotic leg application is analyzed for design purposes. The proposed morphology is characterized by the convergence of the three chains to a single point of the moving platform. First, the mechanism is described and its inverse and forward kinematic problems are solved analytically. Its Jacobian matrix is computed to evaluate the singular positions of the end-effector. Then, workspace volume, manipulator dexterity, static efficiency and stiffness are chosen as objective functions for a multi-objective optimization in order to decide the geometrical parameters of the mechanism. The objective functions are mapped in the parameter space and an optimal solution is discussed as suitable for a future prototype.

Russo, M., Herrero, S., Altuzarra, O., Ceccarelli, M. (2018). Kinematic analysis and multi-objective optimization of a 3-UPR parallel mechanism for a robotic leg. MECHANISM AND MACHINE THEORY, 120, 192-202 [10.1016/j.mechmachtheory.2017.10.004].

Kinematic analysis and multi-objective optimization of a 3-UPR parallel mechanism for a robotic leg

Russo, Matteo;Ceccarelli, Marco
Membro del Collaboration Group
2018

Abstract

In this paper, a parallel mechanism with 3-UPR architecture for a robotic leg application is analyzed for design purposes. The proposed morphology is characterized by the convergence of the three chains to a single point of the moving platform. First, the mechanism is described and its inverse and forward kinematic problems are solved analytically. Its Jacobian matrix is computed to evaluate the singular positions of the end-effector. Then, workspace volume, manipulator dexterity, static efficiency and stiffness are chosen as objective functions for a multi-objective optimization in order to decide the geometrical parameters of the mechanism. The objective functions are mapped in the parameter space and an optimal solution is discussed as suitable for a future prototype.
Pubblicato
Rilevanza internazionale
Articolo
Esperti anonimi
Settore ING-IND/13
English
Con Impact Factor ISI
Kinematics Mechanism design Multi-objective optimization Parallel manipulator Robotic leg
Russo, M., Herrero, S., Altuzarra, O., Ceccarelli, M. (2018). Kinematic analysis and multi-objective optimization of a 3-UPR parallel mechanism for a robotic leg. MECHANISM AND MACHINE THEORY, 120, 192-202 [10.1016/j.mechmachtheory.2017.10.004].
Russo, M; Herrero, S; Altuzarra, O; Ceccarelli, M
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/247611
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