Algorithm to determine the volume and shape of constant orientation workspace for parallel robot 2(3-RRPS)

Authors

  • Mario Alberto García Murillo Department of Mechanical Engineering, DICIS, Universidad de Guanajuato
  • Diego Alfredo Núñez Altamirano Department of Mechanical Engineering, DICIS, Universidad de Guanajuato
  • Jaime Gallardo Alvarado
  • Roger E. Sánchez Alonso Universidad Nacional de Ingeniería, Managua, Nicaragua

Keywords:

Constant orientation, parallel robot, vertex space, workspace

Abstract

This article describes a geometrical method used to analyze the workspace for parallel robot 2(3-RRPS). The algorithm, implemented in a CAD software, determines the workspace for a constant orientation. Mechanical restrictions of the robot and its influence in the workspace are considered. Actuator stroke, angular stroke of the joints in the base, angular travel of the ball joints on the platform, closing restriction and chain interference are the restrictions considered. Applications of the method are presented, such as the characterization of the workspace, the graphic obtaining of it for a range of orientations and the analysis of the effect that the joint limits have on it. Determination of the workspace for orientations range, shape parameters, quantification of the effect of a restriction on the volume, synthesis and dimensional optimization of the mechanism are examples presented to show the potentiality of the algorithm.

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Author Biographies

Mario Alberto García Murillo, Department of Mechanical Engineering, DICIS, Universidad de Guanajuato

Mario A. Garcia-Murillo received the degree in Mechanical Engineering from Universidad Autónoma Chapingo in 2008. In 2010, he obtained the M.Sc. degree in Mechanical Engineering from Instituto Tecnológico de Celaya, México. He gained his Ph.D from IPN CICATA Querétaro in 2014. Dr. García is a current full time professor in the Department of Mechanical Engineering of the Universidad de Guanajuato and member of the National Network of Researchers (SNI) of México. His current research interests include kinematics and dynamics of robot manipulators.

Diego Alfredo Núñez Altamirano, Department of Mechanical Engineering, DICIS, Universidad de Guanajuato

Diego A. Núñez-Altamirano, born in Morelia, Michoacán, México in 1985, he received the B.Sc. and M.Sc. degrees in mechanical engineering and metallurgy sciences respectively from Instituto Tecnológico de Morelia and the Ph.D degree in mechanical engineering from Universidad Michoacana de San Nicolás de Hidalgo, Mexico, is currently a profesor in Mechanical Engineering Department at Universidad de Guanajuato and in member of the National Network of Researchers (SNI) of México. His research interests include walking machine systems and robotics.

Jaime Gallardo Alvarado

Jaime Gallardo-Alvarado received the B.Sc. and M.Sc. degrees in mechanical engineering from Instituto Tecnológico de Celaya, México, in 1985 and 1988 respectively; and the Ph.D. in electrical engineering from Instituto Tecnológico de La Laguna, México, in 1999. He is author of the book “Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory”. He had authored more than 50 journal papers and his interests cover spatial kinematics and dynamics of robot manipulators using screw theory. Dr. Gallardo is a current full time professor in the Department of Mechanical Engineering of the Instituto Tecnológico de Celaya and He is member of the National Network of Researchers (SNI) of México.

Roger E. Sánchez Alonso, Universidad Nacional de Ingeniería, Managua, Nicaragua

Roger E. Sánchez-Alonso: obtained a B.Sc. degree in Industrial Engineering from Universidad Nacional de Ingeniería, Nicaragua, and a M.Sc. and Ph.D degrees from IPN CICATA Queretaro, Mexico. His research interest includes design and analysis of industrial robots,   parallel mechanisms and virtual reality.

Published

2020-05-15

How to Cite

García Murillo, M. A., Núñez Altamirano, D. A., Gallardo Alvarado, J., & Sánchez Alonso, R. E. (2020). Algorithm to determine the volume and shape of constant orientation workspace for parallel robot 2(3-RRPS). IEEE Latin America Transactions, 18(7), 1156–1163. Retrieved from https://latamt.ieeer9.org/index.php/transactions/article/view/44