FORCE REDUCTION OF 3-RPS PARALLEL MANIPULATOR USING MECHANICAL SPRINGS

Latifah Nurahmi, Vu Linh Nguyen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents the force reduction of a 3-RPS parallel manipulator using mechanical springs. Two design methods are proposed: one attaches a linear spring from the base to each cylinder-piston pair of P-joint, and the other implements a torsional spring to the R-joint of each leg. The significance of the proposed methods lies in their structural simplicity and ease of implementation. In these methods, the spring parameters are acquired using particle swarm optimization (PSO) to minimize the total actuator force of the manipulator when it tracks along the centerline of the workspace. In this work, a numerical example of a 3-RPS parallel manipulator is given to demonstrate the effectiveness of the proposed methods. Through four different trajectories, it is shown that the two methods can significantly reduce the actuation forces of the manipulator. The force reduction rate (FRR) of the manipulator can be achieved up to 95% with a linear-spring design and 88.2% with a torsional-spring design when it tracks along the centerline of the workspace. The lowest FRR for the linear-spring design is 70.8% and that for the torsional-spring design is 66.2%. The obtained results demonstrate the high performance of the proposed methods, along with design simplicity, making them have great potential applications.

Original languageEnglish
Title of host publication48th Mechanisms and Robotics Conference (MR)
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791888414
DOIs
Publication statusPublished - 2024
EventASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2024 - Washington, United States
Duration: 25 Aug 202428 Aug 2024

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume7

Conference

ConferenceASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2024
Country/TerritoryUnited States
CityWashington
Period25/08/2428/08/24

Keywords

  • energy saving
  • force reduction
  • parallel manipulator
  • spring design

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