Eventos Anais de eventos
COBEM 2023
27th International Congress of Mechanical Engineering
An Educational Platform for Tripteron/Triflex II Robots: A Step towards the Development of New Parallel Manipulators
Submission Author:
Anelize Zomkowski Salvi , SC , Brazil
Co-Authors:
Anelize Zomkowski Salvi, Leonardo Mejia Rincon, Daniel Ponce, Andrea Piga Carboni, Henrique Simas
Presenter: Leonardo Mejia Rincon
doi://10.26678/ABCM.COBEM2023.COB2023-1200
Abstract
The use of manipulator robots has become increasingly common and is closely linked to the pursuit of innovation and improvement in production processes in order to enhance competitiveness. This trend has created a demand for the development of new, robust mechanisms and solutions suitable for industrial environments. This study focuses on the structural and kinematic characteristics of three-degree-of-freedom parallel robots derived from the Tripteron robot developed by Laval University. The Tripteron system was entirely designed in this work, and the Triflex II system was adapted from an existing mechanism belonging to the laboratory, which was also attached to the novel modular actuation platform. To construct the prototypes, a modular actuation platform was developed, to which the robots' legs and platform were attached. The paper includes a review of the kinematics of robots, with a particular focus on the kinematics of the Tripteron robot, followed by an introduction of fundamental concepts of mechanism theory, with an emphasis on the analysis of redundant constraints, exemplified by the derivation of the Triflex II robot. Furthermore, an educational platform model of the Tripteron/Triflex II robots is presented, which is based on the Arduino microcontroller and stepper motors. This platform was developed to assist in the study and development of new parallel robot models, kinematics study, and embedded control. Two arduino routines are provided in this work: one that allows the robot platform to be controlled via two joysticks, and another that implements its inverse displacement equations. This study is a valuable contribution to the development of new parallel manipulators, and it has educational purposes as well. The Tripteron and Triflex II robots have simple kinematic equations and actuation decoupling, making them suitable as didactic examples for various concepts in the field of parallel robotics. The educational platform model of these robots, based on the Arduino microcontroller, provides a practical tool for students and researchers to explore and gain a deeper understanding of parallel robotics, kinematics, and embedded control.
Keywords
parallel robots, Self-alignment, Tripteron, Triflex II, Educational Plataform
