Gantry Tau – A New Parallel Kinematic Robot
Paper i 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 structure’s 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

Författare

Lars Johannesson

Chalmers, Signaler och system

Viktor Berbyuk

Chalmers, Institutionen för maskin- och fordonssystem, Mekaniska system

Torgny Brogårdh

Proceedings of the 4th Chemnitz Parallel Kinematics Seminar, (Ed.: Reimund Neugebauer), April 20-21, 2004, Verlag Wissenschaftliche Scripten

731-734

Ämneskategorier

Maskinteknik

ISBN

3-937524-05-3