Schappler, MoritzJahn, PhilippRaatz, AnnikaOrtmaier, TobiasThe combined structural and dimensional synthesis is a tool for finding the robot structure that is suited best for a given task by means of global optimization. The handling task in cryogenic environments gives strong constraints on the robot synthesis, which are translated by an engineering design step into the combined synthesis algorithm. This allows to reduce the effort of the combined synthesis, which provides concepts for alternative robot designs and indications on how to modify the existing design prototype, a linear Delta robot with flexure hinges. Promising design candidates are the 3PRRU and 3PRUR, which outperform the linear Delta (3PUU) regarding necessary actuator force.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Combined Structural and Dimensional Synthesis of a Parallel Robot for Cryogenic Handling Tasks


    Beteiligte:
    Schüppstuhl, Thorsten (Herausgeber:in) / Tracht, Kirsten (Herausgeber:in) / Raatz, Annika (Herausgeber:in) / Schappler, Moritz (Autor:in) / Jahn, Philipp (Autor:in) / Raatz, Annika (Autor:in) / Ortmaier, Tobias (Autor:in)


    Erscheinungsdatum :

    2022-01-01


    Format / Umfang :

    13 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Position and Force Control of a Parallel Robot Capaman 2 Bis Parallel Robot for Drilling Tasks

    Briones, Juan Antonio / Castillo, Eduardo / Carbone, Giuseppe et al. | IEEE | 2009



    HANDLING METHOD OF LIQUEFIED CRYOGENIC FLUID

    TAKUBO SHUN / MURATA KAZUHIKO / MURO YOSHIHIRO | Europäisches Patentamt | 2020

    Freier Zugriff

    Design of a planar cable-driven parallel robot for non-contact tasks

    Mattioni V. / Ida E. / Carricato M. | BASE | 2021

    Freier Zugriff

    HANDLING ROBOT

    CHENG JUI-CHUN / XU SHENGDONG / CHEN YUQI | Europäisches Patentamt | 2023

    Freier Zugriff