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Dynamic isotropy in 3-DOF Gantry Tau robots - An analytical study

Afzali-Far, Behrouz LU ; Lidström, Per LU and Robertsson, Anders LU (2016) 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 In Proceedings - IEEE International Conference on Robotics and Automation p.854-860
Abstract

3-DOF Gantry Tau is a type of parallel robot, consisting of six struts configured in three clusters, which provides three translational DOFs. It has increasing industrial use in applications where large workspace and high stiffness are required. In fact, the concept of dynamic isotropy, where all the natural frequencies of a system are equal, can be employed in order to effectively optimize the geometry of robots. However, no study on dynamic isotropy of Gantry Tau robots has yet been reported in the literature. In this paper, the problem of dynamic isotropy in 3-DOF Gantry Tau robots is analytically addressed. Firstly, the kinematics is established based on a general approach with 36 geometric variables. Jacobian and stiffness matrices... (More)

3-DOF Gantry Tau is a type of parallel robot, consisting of six struts configured in three clusters, which provides three translational DOFs. It has increasing industrial use in applications where large workspace and high stiffness are required. In fact, the concept of dynamic isotropy, where all the natural frequencies of a system are equal, can be employed in order to effectively optimize the geometry of robots. However, no study on dynamic isotropy of Gantry Tau robots has yet been reported in the literature. In this paper, the problem of dynamic isotropy in 3-DOF Gantry Tau robots is analytically addressed. Firstly, the kinematics is established based on a general approach with 36 geometric variables. Jacobian and stiffness matrices are also investigated where the struts are considered to be axially flexible. Subsequently, analytical solutions to obtain both a decoupled stiffness matrix and a complete dynamic isotropy are presented. Finally, as an example, dynamically isotropic geometries of a Gantry Tau robot are calculated, for a reference platform, using the developed analytical method.

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organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
Proceedings - IEEE International Conference on Robotics and Automation
pages
7 pages
publisher
Institute of Electrical and Electronics Engineers Inc.
conference name
2016 IEEE International Conference on Robotics and Automation, ICRA 2016
external identifiers
  • Scopus:84977576826
ISBN
9781467380263
DOI
10.1109/ICRA.2016.7487216
language
English
LU publication?
yes
id
a318d80d-126a-4c8a-897b-fe7219005234
date added to LUP
2016-07-25 13:07:34
date last changed
2017-01-01 08:31:01
@inproceedings{a318d80d-126a-4c8a-897b-fe7219005234,
  abstract     = {<p>3-DOF Gantry Tau is a type of parallel robot, consisting of six struts configured in three clusters, which provides three translational DOFs. It has increasing industrial use in applications where large workspace and high stiffness are required. In fact, the concept of dynamic isotropy, where all the natural frequencies of a system are equal, can be employed in order to effectively optimize the geometry of robots. However, no study on dynamic isotropy of Gantry Tau robots has yet been reported in the literature. In this paper, the problem of dynamic isotropy in 3-DOF Gantry Tau robots is analytically addressed. Firstly, the kinematics is established based on a general approach with 36 geometric variables. Jacobian and stiffness matrices are also investigated where the struts are considered to be axially flexible. Subsequently, analytical solutions to obtain both a decoupled stiffness matrix and a complete dynamic isotropy are presented. Finally, as an example, dynamically isotropic geometries of a Gantry Tau robot are calculated, for a reference platform, using the developed analytical method.</p>},
  author       = {Afzali-Far, Behrouz and Lidström, Per and Robertsson, Anders},
  booktitle    = {Proceedings - IEEE International Conference on Robotics and Automation},
  isbn         = {9781467380263},
  language     = {eng},
  month        = {06},
  pages        = {854--860},
  publisher    = {Institute of Electrical and Electronics Engineers Inc.},
  title        = {Dynamic isotropy in 3-DOF Gantry Tau robots - An analytical study},
  url          = {http://dx.doi.org/10.1109/ICRA.2016.7487216},
  year         = {2016},
}