Kinematic Analysis and Design Optimization of a 4-rRUU Parallel Manipulator

Abhilash Nayak (1, 2) , Stéphane Caro (1, 3) , Philippe Wenger (1, 4)

1 LS2N - Laboratoire des Sciences du Numérique de Nantes
2 LS2N - équipe ARMEN - Autonomie des Robots et Maîtrise des interactions avec l’ENvironnement
3 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
4 LS2N - équipe ReV - Robotique Et Vivant

A lower-mobility parallel manipulator with multiple operation modes can be considered as inherently reconfigurable. 4-RUU parallel manipulator is one such manipulator with three different operation modes. Allowing the first revolute joint axis to have any horizontal orientation leads to a dual reconfigurable 4-rRUU mechanism. This paper presents a novel method to determine its operation modes as functions of the orientation of its base revolute joint axes. Moreover, it's transla-tional workspace is plotted for three mutually perpendicular orientations of its base revolute joint axes. With a goal to realize a working prototype, pareto optimization is used to determine its design parameters such that it has a larger singularity-and interference-free workspace while having a smaller size.

Mots clés: Pareto optimization; operation modes; parallel manipulator; 4-RUU; dual reconfigurable

Domaines: Automatique / Robotique; Génie mécanique [physics.class-ph]

Abhilash Nayak, Stéphane Caro, Philippe Wenger. Kinematic Analysis and Design Optimization of a 4-rRUU Parallel Manipulator. Advances in Mechanism and Machine Science Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, 2019, Advances in Mechanism and Machine Science Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, ⟨10.1007/978-3-030-20131-9⟩. ⟨hal-02353780⟩