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    DeltaFlex—An Additively Manufactured Delta Robot With Compliant Joints: Virtual Prototyping and Experimental Evaluation

    Source: Journal of Mechanisms and Robotics:;2024:;volume( 016 ):;issue: 011::page 111011-1
    Author:
    Parmiggiani, Alberto
    ,
    Ottonello, Emilio
    ,
    Kargar, Seyyed Masoud
    ,
    Baggetta, Mario
    ,
    Hao, Guangbo
    ,
    Berselli, Giovanni
    DOI: 10.1115/1.4065780
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: The current study presents the development and validation of a compliant Delta robot with a monolithic structure, which has been fabricated using additive manufacturing (AM). The monolithic design and the use of AM accelerate the robot development cycle by enabling rapid prototyping and deployment while also facilitating experimentation with novel or different robot kinematics. The use of flexible joints for robots presents a challenge in achieving sufficient workspaces. However, parallel architectures are well suited for incorporating compliant joints, as they require lower ranges of motion for individual joints compared to serial architectures. Therefore, the Delta configuration has been chosen for this study. Multibody flexible dynamics (MfBD) simulations have been used as a means to guide design choices and simulate the structural behaviour of the robot. A design for additive manufacturing (DfAM) technique has been adopted to minimize the need for support structures and maximize mechanical strength. The quantitative evaluation of the Delta’s overall performance has been conducted in terms of stiffness and precision. The stiffness test aimed to gauge the robot’s ability to withstand applied loads, whereas the repeatability test assessed its precision and accuracy. This approach offers a promising path for robot design with significant potential for future advancements and practical applications while highlighting the trade-offs that designers should consider when adopting this methodology.
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      DeltaFlex—An Additively Manufactured Delta Robot With Compliant Joints: Virtual Prototyping and Experimental Evaluation

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    contributor authorParmiggiani, Alberto
    contributor authorOttonello, Emilio
    contributor authorKargar, Seyyed Masoud
    contributor authorBaggetta, Mario
    contributor authorHao, Guangbo
    contributor authorBerselli, Giovanni
    date accessioned2024-12-24T19:08:58Z
    date available2024-12-24T19:08:58Z
    date copyright7/22/2024 12:00:00 AM
    date issued2024
    identifier issn1942-4302
    identifier otherjmr_16_11_111011.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4303375
    description abstractThe current study presents the development and validation of a compliant Delta robot with a monolithic structure, which has been fabricated using additive manufacturing (AM). The monolithic design and the use of AM accelerate the robot development cycle by enabling rapid prototyping and deployment while also facilitating experimentation with novel or different robot kinematics. The use of flexible joints for robots presents a challenge in achieving sufficient workspaces. However, parallel architectures are well suited for incorporating compliant joints, as they require lower ranges of motion for individual joints compared to serial architectures. Therefore, the Delta configuration has been chosen for this study. Multibody flexible dynamics (MfBD) simulations have been used as a means to guide design choices and simulate the structural behaviour of the robot. A design for additive manufacturing (DfAM) technique has been adopted to minimize the need for support structures and maximize mechanical strength. The quantitative evaluation of the Delta’s overall performance has been conducted in terms of stiffness and precision. The stiffness test aimed to gauge the robot’s ability to withstand applied loads, whereas the repeatability test assessed its precision and accuracy. This approach offers a promising path for robot design with significant potential for future advancements and practical applications while highlighting the trade-offs that designers should consider when adopting this methodology.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleDeltaFlex—An Additively Manufactured Delta Robot With Compliant Joints: Virtual Prototyping and Experimental Evaluation
    typeJournal Paper
    journal volume16
    journal issue11
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4065780
    journal fristpage111011-1
    journal lastpage111011-10
    page10
    treeJournal of Mechanisms and Robotics:;2024:;volume( 016 ):;issue: 011
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian