Reference : Integrating structural and input design of a 2-DOF high-speed parallel manipulator: A...
Scientific journals : Article
Engineering, computing & technology : Mechanical engineering
Engineering, computing & technology : Electrical & electronics engineering
http://hdl.handle.net/2268/77483
Integrating structural and input design of a 2-DOF high-speed parallel manipulator: A flexible model-based approach
English
da Silva, M. M. [University of Sao Paulo > Department of Mechanical Engineering > > >]
de Oliveira, L. P. R. [University of Sao Paulo > Department of Mechanical Engineering > > >]
Bruls, Olivier mailto [Université de Liège - ULg > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques >]
Michelin, M. [Fatronik France > > > >]
Baradat, C. [Fatronik France > > > >]
Tempier, O. [Université Montpellier 2 > LIRMM > > >]
De Caigny, J. [Katholieke Universiteit Leuven - KUL > Department of Mechanical Engineering > > >]
Swevers, J. [Katholieke Universiteit Leuven - KUL > Department of Mechanical Engineering > > >]
Desmet, W. [Katholieke Universiteit Leuven - KUL > Department of Mechanical Engineering > > >]
Van Brussel, H. [Katholieke Universiteit Leuven - KUL > Department of Mechanical Engineering > > >]
2010
Mechanism & Machine Theory
Pergamon Press - An Imprint of Elsevier Science
45
1509-1519
Yes (verified by ORBi)
International
0094-114X
[en] Motion planning ; Feedforward signals ; Flexible multibody systems ; Parallel manipulators
[en] This paper discusses the integrated design of parallel manipulators, which exhibit varying dynamics. This characteristic affects the machine stability and performance. The design methodology consists of four main steps: (i) the system modeling using flexible multibody technique, (ii) the synthesis of reduced-order models suitable for control design, (iii) the systematic flexible model-based input signal design, and (iv) the evaluation of some possible machine designs. The novelty in this methodology is to take structural flexibilities into consideration during the input signal design; therefore, enhancing the standard design process which mainly considers rigid bodies dynamics. The potential of the proposed strategy is exploited for the design evaluation of a two degree-of-freedom high-speed parallel manipulator. The results are experimentally validated.
EU project NEXT; K.U. Leuven (Research Council Scholarships program); CAPES, Brazilian Foundation Coordination for the Improvement of Higher Education Personnel
Researchers ; Professionals ; Students
http://hdl.handle.net/2268/77483
10.1016/j.mechmachtheory.2010.07.002

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