PENTAPOD: Optimization of a parallel manipulator for use as a guide gear in a sewing unit
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The outstanding properties of parallel structures depend very much on their geometry. Optimal and successful use of these structures is only possible if the geometric parameters are defined in such a way that they meet all the requirements of the handling task as far as possible. The volume of the working space, the accuracy and the stiffness of the tool play a very important role here.
The prototype of a parallel manipulator existing at the Institute of Transmission Technology, Machine Dynamics and Robotics is used as a guide gear for handling a highly dynamic sewing head with a novel sewing technology within the scope of a research project, see Figure 1. For this purpose, the robot has to be optimized with respect to several criteria. Based on the requirements of the handling task, such as the size of the workpieces to be sewn and stitching speeds requirements regarding the working space, rigidity and accuracy of the robot can be derived. For example, the seams to be realized must be located in the working space of the robot. In addition, the structure must be stiff enough so that the high-frequency process forces that occur do not cause deviations from the nominal course of the seam that are greater than the permissible limits.