Methodology for the Design of Parallel Robots Using Performance Atlases: The Case of the Linear Delta Parallel Robot

Javier Sanjuan; Elias Munoz; David Serje; Miguel Padilla; Ibrahim El Bojairami; Brahim Brahmi; Mohammad Rahman

doi:10.1109/SSD52085.2021.9429507

Methodology for the Design of Parallel Robots Using Performance Atlases: The Case of the Linear Delta Parallel Robot

Javier Sanjuan^*
, Elias Munoz
, David Serje
, Miguel Padilla
, Ibrahim El Bojairami
, Brahim Brahmi
, Mohammad Rahman

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Parallel robots kinematic design and optimization is a complex task that involves many preliminary stages to fulfill different user needs. Few literature works provide a simple and robust framework to achieve an optimal solution for the multi-objective kinematic design problem. This research describes a methodology for the optimal kinematic design of parallel robots, leading to the development of performance charts for a graphical selection of an optimal set of design parameters. To illustrate the application of the proposed methodology, the linear delta parallel robot is under study, obtaining the global performance charts of the condition, velocity, and payload indices.

Original language	English
Title of host publication	18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	749-754
Number of pages	6
ISBN (Electronic)	9781665414937
DOIs	https://doi.org/10.1109/SSD52085.2021.9429507
State	Published - 22 Mar 2021
Externally published	Yes

Publication series

Name	18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

Keywords

Parallel Robots
Performance Atlases
Performance Indices

ASJC Scopus subject areas

Artificial Intelligence
Computer Networks and Communications
Computer Science Applications
Signal Processing
Electrical and Electronic Engineering

Access to Document

10.1109/SSD52085.2021.9429507

Cite this

Sanjuan, J., Munoz, E., Serje, D., Padilla, M., El Bojairami, I., Brahmi, B., & Rahman, M. (2021). Methodology for the Design of Parallel Robots Using Performance Atlases: The Case of the Linear Delta Parallel Robot. In 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021 (pp. 749-754). Article 9429507 (18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD52085.2021.9429507

Sanjuan, Javier ; Munoz, Elias ; Serje, David et al. / Methodology for the Design of Parallel Robots Using Performance Atlases : The Case of the Linear Delta Parallel Robot. 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 749-754 (18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021).

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abstract = "Parallel robots kinematic design and optimization is a complex task that involves many preliminary stages to fulfill different user needs. Few literature works provide a simple and robust framework to achieve an optimal solution for the multi-objective kinematic design problem. This research describes a methodology for the optimal kinematic design of parallel robots, leading to the development of performance charts for a graphical selection of an optimal set of design parameters. To illustrate the application of the proposed methodology, the linear delta parallel robot is under study, obtaining the global performance charts of the condition, velocity, and payload indices.",

keywords = "Parallel Robots, Performance Atlases, Performance Indices",

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series = "18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021",

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Sanjuan, J, Munoz, E, Serje, D, Padilla, M, El Bojairami, I, Brahmi, B & Rahman, M 2021, Methodology for the Design of Parallel Robots Using Performance Atlases: The Case of the Linear Delta Parallel Robot. in 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021., 9429507, 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021, Institute of Electrical and Electronics Engineers Inc., pp. 749-754. https://doi.org/10.1109/SSD52085.2021.9429507

Methodology for the Design of Parallel Robots Using Performance Atlases: The Case of the Linear Delta Parallel Robot. / Sanjuan, Javier; Munoz, Elias; Serje, David et al.
18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 749-754 9429507 (18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Serje, David

AU - Padilla, Miguel

AU - El Bojairami, Ibrahim

AU - Brahmi, Brahim

AU - Rahman, Mohammad

PY - 2021/3/22

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AB - Parallel robots kinematic design and optimization is a complex task that involves many preliminary stages to fulfill different user needs. Few literature works provide a simple and robust framework to achieve an optimal solution for the multi-objective kinematic design problem. This research describes a methodology for the optimal kinematic design of parallel robots, leading to the development of performance charts for a graphical selection of an optimal set of design parameters. To illustrate the application of the proposed methodology, the linear delta parallel robot is under study, obtaining the global performance charts of the condition, velocity, and payload indices.

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Sanjuan J, Munoz E, Serje D, Padilla M, El Bojairami I, Brahmi B et al. Methodology for the Design of Parallel Robots Using Performance Atlases: The Case of the Linear Delta Parallel Robot. In 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 749-754. 9429507. (18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021). doi: 10.1109/SSD52085.2021.9429507

Methodology for the Design of Parallel Robots Using Performance Atlases: The Case of the Linear Delta Parallel Robot

Abstract

Publication series

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this