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1 – 1 of 1Alfonso Hernández, Oscar Altuzarra, Oscar Salgado, Charles Pinto and Víctor Petuya
The purpose of this paper is to present a step‐by‐step methodology for the design of parallel kinematic machines (PKMs), from the initial stages of the conceptual definition of a…
Abstract
Purpose
The purpose of this paper is to present a step‐by‐step methodology for the design of parallel kinematic machines (PKMs), from the initial stages of the conceptual definition of a new machine to an optimum design fulfilling the complete set of design requirements.
Design/methodology/approach
The methodology includes consideration of the kinematic, static and dynamic features required for the manipulator, which must all be assessed in complete industrial design. It is applied to a 4‐degrees‐of‐freedom (DOF) Schönflies motion generator for pick & place operations by way of example.
Findings
The authors specify the key stages of a detailed design procedure for parallel manipulators.
Originality/value
There are many publications on the development of specific robots and parallel manipulators based on their particular characteristics. However, it is relatively rare to find a paper on the general procedure with a step‐by‐step methodology applicable to any parallel manipulator.
Details