The actual miniaturization trend, present in several industrial sectors, requires high performance capabilities in micromanipulation and assembly. A complete automation of these operations, by means of robots, could result in a significant cost cut in the final product. In this work we present the mechatronic design and optimization of a 3 d.o.f. Delta type PKM for micromanipulation. Starting from a reference task (pick and place with high stroke rate) the optimal links length has been determined by considering several kinematic performance indexes; afterwards the actual link sizing has been performed considering dynamic loading, also taking into account the effect of the links flexibility on end effector trajectory. A direct drive actuation has been chosen, where the motor sizing has been performed to satisfy several criteria: maximum and r.m.s. torque and maximum speed. The motor selection has been speeded up querying a database built by collecting data from the catalogues of several producer. Furthermore robot joints have been carefully designed in order to reduce backlash and friction.

(2015). Design and optimization of a PKM for micromanipulation [conference presentation - intervento a convegno]. Retrieved from http://hdl.handle.net/10446/57802

Design and optimization of a PKM for micromanipulation

RIGHETTINI, Paolo;LORENZI, Vittorio;ZAPPA, Bruno Fausto;GINAMMI, Andrea;STRADA, Roberto
2015

Abstract

The actual miniaturization trend, present in several industrial sectors, requires high performance capabilities in micromanipulation and assembly. A complete automation of these operations, by means of robots, could result in a significant cost cut in the final product. In this work we present the mechatronic design and optimization of a 3 d.o.f. Delta type PKM for micromanipulation. Starting from a reference task (pick and place with high stroke rate) the optimal links length has been determined by considering several kinematic performance indexes; afterwards the actual link sizing has been performed considering dynamic loading, also taking into account the effect of the links flexibility on end effector trajectory. A direct drive actuation has been chosen, where the motor sizing has been performed to satisfy several criteria: maximum and r.m.s. torque and maximum speed. The motor selection has been speeded up querying a database built by collecting data from the catalogues of several producer. Furthermore robot joints have been carefully designed in order to reduce backlash and friction.
Righettini, Paolo; Lorenzi, Vittorio; Zappa, Bruno Fausto; Ginammi, Andrea; Strada, Roberto
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10446/57802
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