Torque minimization of the Delta parallel robot

International audienceThis paper proposes a new solution to the problem of torque minimization of the Delta robot. The suggested approach involves connecting to the initial structure a secondary mechanical system, which generates a vertical force applied to the platform of the robot. The conditions for optimization are formulated by the minimization of the root-mean-square and maximum values of the input torque due to the static and dynamic loads. The numerical examples show the efficiency of the suggested torque minimization approach

L'amélioration du cheptel cambodgien

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Contribution to the Improvement of the Medical Device SurgiScope

International audienceThis paper proposes a new solution to the problem of torque minimization of the medical device SurgiScope ® by connecting to the initial structure a secondary mechanical system, which generates a vertical constant force on the platform of the robotized device. The conditions for optimization are formulated by the minimization of the root-mean-square values of the input torques of the studied device. The positioning errors of the unbalanced and balanced robots are provided. A significant reduction of these errors is achieved by using the suggested balancing mechanism. The efficiency of the developed approach is illustrated by numerical simulations

Introducció a la programació lineal: mètode sı́mplex i el problema del transport

Treballs Finals de Grau de Matemàtiques, Facultat de Matemàtiques, Universitat de Barcelona, Any: 2022, Director: Susana Romano Rodríguez[en] The following article presents the necessary knowledge to understand and solve linear programming problems. Linear programming was born in 1947, when G.B. Dantzig suggested the simplex method in order to solve planification problems of the United States Air Forces. In this article it is explained how this method works and a series of examples are solved by using a program which has the method’s algorithm implemented. To do this, the definitions and basic concepts of linear programming are explained to understand the linear programming problems from an algebraic point of view. There are also explanations of the necessary concepts and definitions of convex analysis to understand this type of problems from a geometric point of view. On the other hand, the concept of duality and the relation between primal linear programming problems and dual linear programming problems are explained. Finally, this article presents the transportation problem, a linear programming practical case, and the algorithm in order to solve it. This algorithm has been implemented in a program and has been used to solve an example shown in this article

Design and Prototyping of a New Balancing Mechanism for Spatial Parallel Manipulators

International audienceThis paper proposes a new solution to the problem of torque minimization of spatial parallel manipulators. The suggested approach involves connecting a secondary mechanical system to the initial structure, which generates a vertical force applied to the manipulator platform. Two versions of the added force are considered: constant and variable. The conditions for optimization are formulated by the minimization of the root-mean-square values of the input torques. The positioning errors of the unbalanced and balanced parallel manipulators are provided. It is shown that the elastic deformations of the manipulator structure which are due to the payload, change the altitude and the inclination of the platform. A significant reduction of these errors is achieved by using the balancing mechanism. The efficiency of the suggested solution is illustrated by numerical simulations and experimental verifications. The prototype of the suggested balancing mechanism for the Delta robot is also presented