Gantry Tau A New Parallel Kinematic Robot
Paper in proceeding, 2004
A new parallel structure, the Gantry Tau, is introduced. The structure provides 3 degrees of freedom translational motion with a large workspace. The structures nominal kinematics is identical to the Linear Delta robot. In order to yield a design of the Gantry Tau with a large workspace volume and good kinematic properties, multi-criteria optimization is used. Different geometrical layouts are examined and the Pareto optimality between the objective functions is found.
optimization
pareto optimality
parallel robot
Linear Delta robot
Author
Lars Johannesson
Chalmers, Signals and Systems
Viktor Berbyuk
Chalmers, Department of Machine and Vehicle Systems, Mechanical Systems
Torgny Brogårdh
Published in
Proceedings of the 4th Chemnitz Parallel Kinematics Seminar, (Ed.: Reimund Neugebauer), April 20-21, 2004, Verlag Wissenschaftliche Scripten
p. 731-734
3-937524-05-3 (ISBN)
Categorizing
Subject Categories (SSIF 2011)
Mechanical Engineering
Identifiers
ISBN
3-937524-05-3