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Optimum design of the reconfiguration system for a 6-degree-of-freedom parallel manipulator via motion/force transmission analysis

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Abstract

This research introduces a 6-degree-of-freedom parallel manipulator with a reconfigurable fixed base; the manipulator performance has been evaluated to select the most suitable reconfiguration system. The optimal design of the parallel manipulator refers to the enhancement of robot behavior achieved by the geometrical variation of the fixed platform. Motion/force transmission, with the aid of the principle of power conservation, defines the manipulator capacity to transmit its force from the actuated joints to the end-effector from different reconfiguration approaches and vice versa considering the stiffness analysis. Results allow inferring that reconfiguration of the fixed base enhances the performance of this parallel manipulator. The proposal of the reconfiguration system allows obtaining a reconfigurable parallel robot with the minimum number of actuators.

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Acknowledgments

This research was supported by Consejo Nacional de Ciencia y Tecnología (CONACyT) and Centro de Investigación en Ciencia Aplicada y Tecnología Avanzada IPN Unidad Querétaro (CICATA IPN Querétaro).

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Authors and Affiliations

  1. Research Center in Applied Science and Advanced Technology, National Polytechnic Institute, Querétaro, Mexico

    Raymundo Ramos Alvarado & Eduardo Castillo Castañeda

Authors
  1. Raymundo Ramos Alvarado
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  2. Eduardo Castillo Castañeda
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Corresponding author

Correspondence to Raymundo Ramos Alvarado.

Additional information

Recommended by Editor Ja Choon Koo

Raymundo Ramos Alvarado received the degree of Mechanical Engineering from the Querétaro Institute of Technology (Mexico) and has a Master’s in Advanced Technology from the National Polytechnic Institute (Mexico). Since 2017 he has been a doctoral student at the National Polytechnic Institute in CICATA Querétaro (Mexico). His main research activities are in the field of robotics with a special interest in the development of parallel robots.

Eduardo Castillo Castañeda received the degree of Mechanical-Electrical Engineering in 1987 from the National Autonomous University of Mexico. In 1994 he obtained the Ph.D. from Grenoble Institute of Technology, France, in Automatic Control. He is currently Full-Time Professor at the National Polytechnic Institute, Mexico. His current research is related to precision engineering, computer vision, and design and control of parallel manipulators.

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Ramos Alvarado, R., Castillo Castañeda, E. Optimum design of the reconfiguration system for a 6-degree-of-freedom parallel manipulator via motion/force transmission analysis. J Mech Sci Technol 34, 1339–1349 (2020). https://doi.org/10.1007/s12206-020-0232-2

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  • DOI: https://doi.org/10.1007/s12206-020-0232-2

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