Kinematic design of a 2-PRR parallel robot
DOI:
https://doi.org/10.22517/23447214.24161Keywords:
Dimensional synthesis, design atlas, global condition index, , parallel robot, workspaceAbstract
Este artículo presenta una síntesis dimensional para un robot plano paralelo 2-PRR con estructura simétrica. Este robot posibilita la translación de la mesa móvil sin cambios en la orientación, lo cual resulta útil en aplicaciones que requieren posiciones controladas con alta rigidez. Debido a la alta sensibilidad que tienen estos robots con respecto a los cambios geométricos, muchas metodologías han sido desarrolladas para establecer la síntesis dimensional. En este trabajo se usó el Método de Normalización de Parámetros Finitos (PFNM) para establecer las dimensiones usando dos atlas de diseño, para el Índice Globales de Condición (GCI), y para el espacio de trabajo ( ). Se muestra que, para los dos atlas de diseño, GCI y , no es posible maximizar uno de los índices sin disminuir el otro, lo que representa un compromiso de diseño. Igualmente, se resaltan configuraciones singulares que vienen de geometrías especificas o de posiciones limite. La síntesis dimensional completa del 2-PRR es también presentada.
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