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Contributions to the parametric synthesis of parallel mechanism

Grant number: 18/12087-7
Support type:Regular Research Grants
Duration: March 01, 2019 - September 30, 2021
Field of knowledge:Engineering - Mechanical Engineering - Mechanics of Solids
Principal researcher:Fernando Malvezzi
Grantee:Fernando Malvezzi
Home Institution: Escola de Engenharia Mauá (EEM). Instituto Mauá de Tecnologia. São Caetano do Sul , SP, Brazil
Assoc. researchers: Konstantinos Dimitriou Stavropoulos ; Renato Maia Matarazzo Orsino ; TARCISIO ANTONIO HESS COELHO

Abstract

Parallel mechanisms are those formed by at least one closed kinematic chain, and their mobility (or degrees of mobility) must be greater than or equal to two. In the last three decades there has been an increase in research to explore the potential of this type of mechanism. High-speed robotic manipulators were introduced, capable of reaching speeds of 10 m/s and accelerations of up to 15 m/s2, surgical robots and machining centers. Simultaneously to the development of these parallel robots, there was the search for a systematic approach aimed at the design of these mechanical structures. In this way, some methods for the Type Synthesis of parallel mechanisms were formalized. In view of the enormous variety of parallel mechanisms with application potential, selecting the most promising structure among the possible ones, and determining the optimal parameters for the execution of tasks, became the most relevant topics for the investigation. This research project aims to bring contributions to the synthesis methodology, referring both to the synthesis of the type and to the parametric synthesis of parallel mechanisms. An expected challenge for this research is to find the most promising parallel kinematic structure for a given application, among the several candidates generated from topological synthesis methods, as well as the process of searching the kinematic or dynamic parameters for the mechanism obtained by this process of synthesis.In order to show the application of the synthesis methodology proposed in this research, a mechanism will be generated that is able to attenuate vibrations in ambulance stretchers. A patent for this mechanism should be required at the end of the research. (AU)

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