Optimization of the 2PRU-1PRS Parallel Manipulator Based on Workspace and Power Consumption Criteria

In the last few years, parallel manipulators are being increasingly studied and used for different applications. The performance of parallel manipulators is very sensitive to the geometric parameters, so it is essential to optimize them in order to obtain the desired function. We propose two optimization algorithms that consider the size and regularity of the workspace. The first one obtains the geometric parameters combination that results in the biggest and most regular workspace. The second method analyzes the geometric parameters combinations that result in an acceptable size of the workspace—even if it is not the biggest one—and finds out which ones result in the lowest power consumption. Even if the results vary depending on the application and trajectories studied, the proposed methodology can be followed to any type of parallel manipulator, application or trajectory. In this work we focus on the dimension optimization of the geometric parameters of the 2PRU-1PRS Multi-Axial Shaking Table (MAST) for automobile pieces testing purposes.This research was funded by the Regional Government of the Basque Country (IT949-16) and the Science and Innovation Ministry of the Spanish Government (PID2019-105262RB-I00)

Mechatronic Model of a Compliant 3PRS Parallel Manipulator

Compliant mechanisms are widely used for instrumentation and measuring devices for their precision and high bandwidth. In this paper, the mechatronic model of a compliant 3PRS parallel manipulator is developed, integrating the inverse and direct kinematics, the inverse dynamic problem of the manipulator and the dynamics of the actuators and the control. The kinematic problem is solved, assuming a pseudo-rigid model for the deflection in the compliant revolute and spherical joints. The inverse dynamic problem is solved, using the Principle of Energy Equivalence. The mechatronic model allows the prediction of the bandwidth of the manipulator motion in the 3 degrees of freedom for a given control and set of actuators, helping in the design of the optimum solution. A prototype is built and validated, comparing experimental signals with the ones from the model.Authors would like to thank the Ministerio de Ciencia e Innovación of the Spanish government for funding the project PID2019-105262RB-I00

Design methodology for MAST-type parallel manipulators based on kinematic, dynamic and stiffness criteria: theoretical and experimental application to the 2PRU-1PRS

294 p.This thesis presents research in the field of parallel manipulators. We can basically divideindustrial robots in two groups ¿ parallel and serial manipulators. Parallel manipulators are composed ofa mobile and a fixed platform connected by several legs. They are of great interest for industrialapplication because they are more rigid and display better dynamic performance than serial manipulators.We focus on the design of parallel manipulators and, specifically, on the multi-axis shaking tables(MAST).Thesemachines are linkage-based systems that generate a coupled motion in their end-effectorby combining translations and rotations. Their main applications are the dynamic testing of structures ormechanical components ¿ they are essential to experimentally verify the safety and reliability of pieces orstructures under dynamic load conditions.In this thesis we present two methodologies. The first one analyses the performance of a MASTtypeparallel manipulator with known geometric parameters. The second one optimizes the geometricparameters taking into account two performances ¿ the size and regularity of the workspace and thepower consumption. Even though we particularize them for the 2PRU-1PRS parallel manipulator, bothmethodologies are valid for any MAST-type parallel manipulator. Moreover, we present the developmentof a prototype of the 2PRU-1PRS parallel manipulator, which we use tovalidate the methodologies proposed

Design methodology for MAST-type parallel manipulators based on kinematic, dynamic and stiffness criteria: theoretical and experimental application to the 2PRU-1PRS

294 p.This thesis presents research in the field of parallel manipulators. We can basically divideindustrial robots in two groups ¿ parallel and serial manipulators. Parallel manipulators are composed ofa mobile and a fixed platform connected by several legs. They are of great interest for industrialapplication because they are more rigid and display better dynamic performance than serial manipulators.We focus on the design of parallel manipulators and, specifically, on the multi-axis shaking tables(MAST).Thesemachines are linkage-based systems that generate a coupled motion in their end-effectorby combining translations and rotations. Their main applications are the dynamic testing of structures ormechanical components ¿ they are essential to experimentally verify the safety and reliability of pieces orstructures under dynamic load conditions.In this thesis we present two methodologies. The first one analyses the performance of a MASTtypeparallel manipulator with known geometric parameters. The second one optimizes the geometricparameters taking into account two performances ¿ the size and regularity of the workspace and thepower consumption. Even though we particularize them for the 2PRU-1PRS parallel manipulator, bothmethodologies are valid for any MAST-type parallel manipulator. Moreover, we present the developmentof a prototype of the 2PRU-1PRS parallel manipulator, which we use tovalidate the methodologies proposed