The Gantry-Tau parallel kinematic machine—kinematic and elastodynamic design optimisation
نویسندگان
چکیده
منابع مشابه
Kinematic and Elastodynamic Design Optimisation of the 3-DOF Gantry-Tau Parallel Kinematic Manipulator
One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. However, the optimal kinematic, elastostatic and elastodynamic design parameters of the...
متن کاملKinematic and Elastostatic Design Optimisation of the 3-DOF Gantry-Tau Parallel Kinematic Manipulator
One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ration further by allowing a change of assembly mode without internal link collisions or collisions between the links and end-effector. The reconfigurable Gantry-Tau kinematic design obtained by multi-objective optimisation a...
متن کاملCollision-Free Workspace Design Optimisation of the 3-DOF Gantry-Tau Parallel Kinematic Machine
One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. This paper introduces an optimisation scheme based on the geometric approach for the wo...
متن کاملKinematic Optimisation of the Gantry-Tau Parallel Kinematic Manipulator with respect to its Workspace
The Gantry-Tau is a recently developed parallel kinematic manipulator (PKM). Since the actuators are stationary it possesses the following characteristics: high speed, high acceleration, small moving mass and high static and dynamic accuracy. Since all link forces in the structure are axial, high stiffness can also be achieved. One of the main advantages of the Gantry-Tau machine is a large wor...
متن کاملA Fully Geometric Approach for the Workspace Area of the Gantry-tau Parallel Kinematic Manipulator
One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The design presented in this paper achieves a workspace/footprint ratio of more than 2.7 with fixed length links, which is high for a PKM. Typical PKMs, for example the Delta robot, has a ratio less than one. Optimisation schemes are typically used in or...
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ژورنال
عنوان ژورنال: Meccanica
سال: 2010
ISSN: 0025-6455,1572-9648
DOI: 10.1007/s11012-010-9394-9