TY - GEN
T1 - FORCE REDUCTION OF 3-RPS PARALLEL MANIPULATOR USING MECHANICAL SPRINGS
AU - Nurahmi, Latifah
AU - Nguyen, Vu Linh
N1 - Publisher Copyright:
Copyright © 2024 by ASME.
PY - 2024
Y1 - 2024
N2 - 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.
AB - 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.
KW - energy saving
KW - force reduction
KW - parallel manipulator
KW - spring design
UR - http://www.scopus.com/inward/record.url?scp=85210079595&partnerID=8YFLogxK
U2 - 10.1115/DETC2024-142830
DO - 10.1115/DETC2024-142830
M3 - Conference contribution
AN - SCOPUS:85210079595
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 48th Mechanisms and Robotics Conference (MR)
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2024
Y2 - 25 August 2024 through 28 August 2024
ER -