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Redundant Reconfigurable Parallel Robots

Comparing parallel robots

This research (under the superviotion of prof. Beno Benhabib), on reconfigurable robots focused on the analysis and synthesis of the robot sturtuctre. Several arcitectures of parallel robots were compared, and the best one was selected based on the coverage of workspace and stiffnesses along given tool paths.

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Azulay H., Mahmoodi M., Zhao R., et al. (2014) Comparative analysis of a new 3×pprs parallel kinematic mechanism. Robot Cim-Int Manf 30 369–378.

Multi-Tier optimization

The meso-Milling Machine Tool design is determined based on a Multi-tier optimization, which include :  architecture, set-up, configuration (tool path), actuation schema, machine posture (based on stiffness/accuracy).  

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Azulay H., Mills J.K., Benhabib B. (2014) A multi-tier design methodology for reconfigurable milling machines. Journal of Manufacturing Science and Engineering 136: 041007 1-10.

Multi-tier hardware_UofT.tif

Synthesis of reconfigurable parallel robots

The paper presents an approach to the design of a redundant reconfigurable parallel kinematic mechanism (RR-PKM). The design process considers redundancy, that can switch between configurations with lockable joints. In the movie a new 6×PRPRS robot changes between the UofT-PKM and the Eclipse-PKM.  ​

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Azulay H., Mills J.K., Benhabib B. (2016) A synthesis approach for reconfigurable redundant parallel-kinematic mechanisms. Transactions of the Canadian Society for Mechanical Engineering 40: 419-431.

Reconfiguration of 3prprs RRMT - RRPR.tif

Reconfiguration from the : (left) 7-dof Eclipse to (right) the 7-dof UofT PKM.

Research

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Toy Design

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Teaching

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