Workspace Optimization of a Deltoid Robot.

被引：0

作者：

Gutierrez-Preciado, Alfredo ^{[1
]}

Antonio Gonzalez-Palacios, Max ^{[2
]}

Antonio Aguilera-Cortes, Luz ^{[2
]}

Javier Mendoza-Patino, Francisco ^{[2
]}

机构：

[1] Fraenkische Ind Pipes Mexico SA CV, Av Paraiso 405,Parque Ind & Negocios Colinas, Guanajuato 36270, Mexico

[2] Univ Guanajuato, Div Ingn, Campus Irapuato Salamanca, Guanajuato 36885, Mexico

来源：

REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL | 2019年 / 16卷 / 02期

关键词：

Deltoid Robot; Design; Optimization; Computer simulation; Workspace; ADEFID; DIMENSIONAL SYNTHESIS; PLATFORM;

D O I：

10.4995/riai.2018.8747

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Studies conducted on the Delta robot have reported drawbacks regarding its limited workspace. In this paper, it is proposed a modification in the placement of its actuators, thus becoming what is called the Deltoide robot. With this change, the workspace can greatly increase or decrease. This way, an optimization using genetic algorithms is proposed to find the largest workspace that the robot can have depending on the design variables. Additionally, the general analysis of the forward and inverse kinematics of the Deltoide robot, is explained and implemented in a software specially created for this application.

引用

页码：159 / 170

页数：12

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