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Assessing the dynamic performance of the 3TKR: a novel PKM with kinematic redundancy and a flexible traveling platform

Grant number: 16/09409-7
Support type:Scholarships abroad - Research Internship - Master's degree
Effective date (Start): September 02, 2016
Effective date (End): March 01, 2017
Field of knowledge:Engineering - Mechanical Engineering
Principal Investigator:Maira Martins da Silva
Supervisor abroad: Sebastien Krut
Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos, SP, Brazil
Research place: Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier (LIRMM), France  
Associated to the scholarship:14/21946-2 - Numerical and experimental investigation on the dynamic performance of kinematically redundant parallel planar manipulator, BP.MS


The candidate João Cavalcanti Santos has been working on parallel kinematic machines with kinematic redundancy on the project FAPESP 2014/21946-2. Despite all promising results obtained so far (see the partial report and its evaluation in attached files), their applicability in industrial problems is rather limited due to complicated trajectory planning and control strategies. Researchers of LIRMM/UM have recently presented results on redundant parallel manipulators that can be directly employed in industry. An ongoing study is the development of T3KR, a Delta-like spatial parallel robot with kinematic redundancy and 3 translational degrees of freedom. The kinematic redundancy is established thanks to a flexible traveling plate, which provides additional mobility to the mechanism. The innovation introduced by this flexibility makes T3KR a novel machine, requiring novel methods for its evaluation. Considering that the main objective of this manipulator is to achieve high accelerations, such evaluation should focus on its dynamic performance. During this internship, the candidate should contribute to this research proposing novel metrics to evaluate the dynamic performance of the T3KR manipulator based on numerical and experimental results. Since one of the main goals of the original project FAPESP 2014/21946-2 is to develop motion planning strategies, one can see the similarities between both research projects. Motion planning strategies can be understood as techniques for maximizing (or minimizing) a given metric able to quantify the manipulator's performance. Furthermore, once researchers of LIRMM have strong knowledge on the applicability of parallel manipulators in industry, the experience of the candidate can be largely enriched. (AU)