Design methodology for MAST-type parallel manipulators based on kinematic, dynamic and stiffness criteriatheoretical and experimental application to the 2PRU-1PRS

Resumen

This thesis presents research in the field of parallel manipulators. We can basically divide industrial robots in two groups ¿ parallel and serial manipulators. Parallel manipulators are composed of a mobile and a fixed platform connected by several legs. They are of great interest for industrial application because they are more rigid and display better dynamic performance than serial manipulators. We focus on the design of parallel manipulators and, specifically, on the multi-axis shaking tables (MAST).Thesemachines are linkage-based systems that generate a coupled motion in their end-effector by combining translations and rotations. Their main applications are the dynamic testing of structures or mechanical components ¿ they are essential to experimentally verify the safety and reliability of pieces or structures under dynamic load conditions. In this thesis we present two methodologies. The first one analyses the performance of a MASTtype parallel manipulator with known geometric parameters. The second one optimizes the geometric parameters taking into account two performances ¿ the size and regularity of the workspace and the power consumption. Even though we particularize them for the 2PRU-1PRS parallel manipulator, both methodologies are valid for any MAST-type parallel manipulator. Moreover, we present the development of a prototype of the 2PRU-1PRS parallel manipulator, which we use to validate the methodologies proposed.