Optimization of the 2PRU-1PRS Parallel Manipulator Based on Workspace and Power Consumption Criteria
dc.contributor.author | Herrero Villalibre, Saioa | |
dc.contributor.author | Pinto Cámara, Charles Richard | |
dc.contributor.author | Díez Sánchez, Mikel | |
dc.contributor.author | Zubizarreta Pico, Asier | |
dc.date.accessioned | 2021-09-14T12:17:34Z | |
dc.date.available | 2021-09-14T12:17:34Z | |
dc.date.issued | 2021-08-24 | |
dc.identifier.citation | Applied Sciences 11(17) : (2021) // Article ID 7770 | es_ES |
dc.identifier.issn | 2076-3417 | |
dc.identifier.uri | http://hdl.handle.net/10810/53080 | |
dc.description.abstract | In the last few years, parallel manipulators are being increasingly studied and used for different applications. The performance of parallel manipulators is very sensitive to the geometric parameters, so it is essential to optimize them in order to obtain the desired function. We propose two optimization algorithms that consider the size and regularity of the workspace. The first one obtains the geometric parameters combination that results in the biggest and most regular workspace. The second method analyzes the geometric parameters combinations that result in an acceptable size of the workspace—even if it is not the biggest one—and finds out which ones result in the lowest power consumption. Even if the results vary depending on the application and trajectories studied, the proposed methodology can be followed to any type of parallel manipulator, application or trajectory. In this work we focus on the dimension optimization of the geometric parameters of the 2PRU-1PRS Multi-Axial Shaking Table (MAST) for automobile pieces testing purposes. | es_ES |
dc.description.sponsorship | This research was funded by the Regional Government of the Basque Country (IT949-16) and the Science and Innovation Ministry of the Spanish Government (PID2019-105262RB-I00). | es_ES |
dc.language.iso | eng | es_ES |
dc.publisher | MDPI | es_ES |
dc.relation | info:eu-repo/grantAgreement/MICINN/PID2019-105262RB-I00) | es_ES |
dc.rights | info:eu-repo/semantics/openAccess | es_ES |
dc.rights.uri | http://creativecommons.org/licenses/by/3.0/es/ | |
dc.subject | parallel manipulators | es_ES |
dc.subject | robotics | es_ES |
dc.subject | optimization | es_ES |
dc.subject | workspace | es_ES |
dc.subject | power consumption | es_ES |
dc.title | Optimization of the 2PRU-1PRS Parallel Manipulator Based on Workspace and Power Consumption Criteria | es_ES |
dc.type | info:eu-repo/semantics/article | es_ES |
dc.date.updated | 2021-09-09T13:45:26Z | |
dc.rights.holder | 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). | es_ES |
dc.relation.publisherversion | https://www.mdpi.com/2076-3417/11/17/7770/htm | es_ES |
dc.identifier.doi | 10.3390/app11177770 | |
dc.departamentoes | Ingeniería mecánica | |
dc.departamentoes | Ingeniería de sistemas y automática | |
dc.departamentoeu | Ingeniaritza mekanikoa | |
dc.departamentoeu | Sistemen ingeniaritza eta automatika |
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Except where otherwise noted, this item's license is described as 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).