Modares Mechanical Engineering

Modares Mechanical Engineering

Investigating the Effect of Moving Platform Designation on the Work-Space and Efficiency of the C4 Four-Dof Parallel Robot

Document Type : Original Research

Authors
Mohammad Aliakbari
Mehran Mahboobkhah
Ghader Khosroshahi
University of Tabriz
Abstract
Parallel robots, which have several advantages over serial robots, have been one of the important industrial developments to increase the efficiency of controllable devices. Parallel structures have more suitable features such as higher rigidity, higher movement speed, non-cumulative errors and flexibility of the end-effecter pose. However, the workspace of parallel robots, compared to serial robots, faces limitations due to the existence of multiple kinematic chains, as well as the complexities related to robot control. Small size of workspace is one of the main challenges of parallel robots. Designing moving platform of a parallel robot is of the factors affecting the workspace of the robot. C4 is a four-dof parallel robot that is developed based on the three-dof Delta robot. In current study, the influence of the moving platform design on the workspace and efficiency of the robot has been investigated. After the initial overall design of the robot, three proposed modes for the moving platform have been investigated by considering the robot's kinematic parameters and robot error analysis. According to the results of the workspace and the robot efficiency analyses, the most efficient design has been selected.
Keywords
C4 Four-dof Parallel Robot
Moving Platform
workspace
Kinematic Parameters
Robot Efficiency

Subjects

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Modares Mechanical Engineering
Volume 22, Issue 10
October 2022
Pages 137-144