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Prototype design of a translating parallel robot. (English) Zbl 1137.70005
Summary: The paper describes the mechanical design of a parallel manipulator for motions of pure translation, whose kinematic analysis has shown very good performances such as large workspace and small overall dimensions of the mobile platform; in particular, the “Cartesian” structure of the machine allowed to obtain constant accuracy and kinematic properties throughout the workspace. The structural design has minimized the mass of the moving links and, by the combined use of FEM and multibody codes, allowed to take into consideration the high stresses coming from inertial forces and to evaluate a priori the resulting dynamic properties. A physical prototype has just been built in order to validate the developed models and assess the actual robot performances in real operating conditions.

MSC:
70B15 Kinematics of mechanisms and robots
70E60 Robot dynamics and control of rigid bodies
70-08 Computational methods for problems pertaining to mechanics of particles and systems
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