Geometric and Kinematic Performance Analysis and Comparison of Three Translational Parallel Manipulators

10.6567/IFToMM.14TH.WC.OS13.002

Med Amine Laribi；Abedlfattah Mlika；Lotfi Romdhane；Said Zeghloul

Workspace ； dexterity ； Multiobjective optimization ； RAF robot ； 3UPU robot ； Delta robot

Proceedings of the 14th IFToMM World Congress

14th-2（2015 / 10 / 27）

565 - 571

英文

In this paper, three translational parallel manipulators, i.e., the RAF, the 3UPU and the Delta, are analyzed for dexterity and workspace. First, the geometric models for these three robots were investigated to determine their respective workspaces. The kinematic models are also derived to calculate the global dexterity of each robot. A multi-objective optimization, where the global dexterity is maximized while minimizing the workspace to best fit a desired workspace, is performed for the three robots. The obtained Pareto front shows that the dexterity and the size of the workspace are two contradictory performances. Another result shows that the Delta robot performs poorly for dexterity but has the smallest size compared to the RAF and 3UPU robots. The CAD models confirmed the results obtained for the workspace for each robot. Based on the dexterity, one can conclude that using linear actuators for parallel robots ensures a higher dexterity.