Influence-Coefficient Method for Identifying Maximum-Load Configurations and Variable-Load Issues in Manipulators
The dimensioning of general-purpose machines such as manipulators involves the solution of a number of preliminary issues. The determination of reference external loads and the identification of machine configurations that give the maximum internal load for each component are two of these issues. Th...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-02-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/9/2/27 |
| _version_ | 1797416632625135616 |
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| author | Raffaele Di Gregorio Erkan Yilmaz |
| author_facet | Raffaele Di Gregorio Erkan Yilmaz |
| author_sort | Raffaele Di Gregorio |
| collection | DOAJ |
| description | The dimensioning of general-purpose machines such as manipulators involves the solution of a number of preliminary issues. The determination of reference external loads and the identification of machine configurations that give the maximum internal load for each component are two of these issues. These two problems are commonly addressed through trial-and-error procedures based on dynamic modelling, which are implemented with the support of simulation software, since static analyses are commonly considered inadequate to solve them. Despite this, here, a technique based on influence coefficients and static analyses is presented which solves them. Such technique is also able to foresee and justify dynamic issues (i.e., possible vibrations, etc.) that could heavily affect the machine behavior. The effectiveness of the proposed technique is proved by implementing it on a 3T1R parallel manipulator. The presented design method is general and applicable to any type of non-overconstrained manipulator or mechanism. |
| first_indexed | 2024-03-09T06:06:58Z |
| format | Article |
| id | doaj.art-1c1ba953d5264476b7965bd2de946594 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T06:06:58Z |
| publishDate | 2021-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-1c1ba953d5264476b7965bd2de9465942023-12-03T12:02:24ZengMDPI AGMachines2075-17022021-02-01922710.3390/machines9020027Influence-Coefficient Method for Identifying Maximum-Load Configurations and Variable-Load Issues in ManipulatorsRaffaele Di Gregorio0Erkan Yilmaz1LaMaViP, Department of Engineering, University of Ferrara, 44122 Ferrara, ItalyLaMaViP, Department of Engineering, University of Ferrara, 44122 Ferrara, ItalyThe dimensioning of general-purpose machines such as manipulators involves the solution of a number of preliminary issues. The determination of reference external loads and the identification of machine configurations that give the maximum internal load for each component are two of these issues. These two problems are commonly addressed through trial-and-error procedures based on dynamic modelling, which are implemented with the support of simulation software, since static analyses are commonly considered inadequate to solve them. Despite this, here, a technique based on influence coefficients and static analyses is presented which solves them. Such technique is also able to foresee and justify dynamic issues (i.e., possible vibrations, etc.) that could heavily affect the machine behavior. The effectiveness of the proposed technique is proved by implementing it on a 3T1R parallel manipulator. The presented design method is general and applicable to any type of non-overconstrained manipulator or mechanism.https://www.mdpi.com/2075-1702/9/2/27parallel manipulatorsdimensional synthesiskinetostaticsinfluence coefficients |
| spellingShingle | Raffaele Di Gregorio Erkan Yilmaz Influence-Coefficient Method for Identifying Maximum-Load Configurations and Variable-Load Issues in Manipulators Machines parallel manipulators dimensional synthesis kinetostatics influence coefficients |
| title | Influence-Coefficient Method for Identifying Maximum-Load Configurations and Variable-Load Issues in Manipulators |
| title_full | Influence-Coefficient Method for Identifying Maximum-Load Configurations and Variable-Load Issues in Manipulators |
| title_fullStr | Influence-Coefficient Method for Identifying Maximum-Load Configurations and Variable-Load Issues in Manipulators |
| title_full_unstemmed | Influence-Coefficient Method for Identifying Maximum-Load Configurations and Variable-Load Issues in Manipulators |
| title_short | Influence-Coefficient Method for Identifying Maximum-Load Configurations and Variable-Load Issues in Manipulators |
| title_sort | influence coefficient method for identifying maximum load configurations and variable load issues in manipulators |
| topic | parallel manipulators dimensional synthesis kinetostatics influence coefficients |
| url | https://www.mdpi.com/2075-1702/9/2/27 |
| work_keys_str_mv | AT raffaeledigregorio influencecoefficientmethodforidentifyingmaximumloadconfigurationsandvariableloadissuesinmanipulators AT erkanyilmaz influencecoefficientmethodforidentifyingmaximumloadconfigurationsandvariableloadissuesinmanipulators |