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

Abstract

This thesis presents research in the field of parallel manipulators. We can basically divideindustrial robots in two groups ¿ parallel and serial manipulators. Parallel manipulators are composed ofa mobile and a fixed platform connected by several legs. They are of great interest for industrialapplication 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-effectorby combining translations and rotations. Their main applications are the dynamic testing of structures ormechanical components ¿ they are essential to experimentally verify the safety and reliability of pieces orstructures under dynamic load conditions.In this thesis we present two methodologies. The first one analyses the performance of a MASTtypeparallel manipulator with known geometric parameters. The second one optimizes the geometricparameters taking into account two performances ¿ the size and regularity of the workspace and thepower consumption. Even though we particularize them for the 2PRU-1PRS parallel manipulator, bothmethodologies are valid for any MAST-type parallel manipulator. Moreover, we present the developmentof a prototype of the 2PRU-1PRS parallel manipulator, which we use tovalidate the methodologies proposed.