Designing parallel manipulators: from specifications to a real prototype
Abstract
Purpose
The purpose of this paper is to present a step‐by‐step methodology for the design of parallel kinematic machines (PKMs), from the initial stages of the conceptual definition of a new machine to an optimum design fulfilling the complete set of design requirements.
Design/methodology/approach
The methodology includes consideration of the kinematic, static and dynamic features required for the manipulator, which must all be assessed in complete industrial design. It is applied to a 4‐degrees‐of‐freedom (DOF) Schönflies motion generator for pick & place operations by way of example.
Findings
The authors specify the key stages of a detailed design procedure for parallel manipulators.
Originality/value
There are many publications on the development of specific robots and parallel manipulators based on their particular characteristics. However, it is relatively rare to find a paper on the general procedure with a step‐by‐step methodology applicable to any parallel manipulator.
Keywords
Citation
Hernández, A., Altuzarra, O., Salgado, O., Pinto, C. and Petuya, V. (2012), "Designing parallel manipulators: from specifications to a real prototype", Industrial Robot, Vol. 39 No. 5, pp. 500-512. https://doi.org/10.1108/01439911211249797
Publisher
:Emerald Group Publishing Limited
Copyright © 2012, Emerald Group Publishing Limited