Dimensional Design and Performance Analysis of a 6-DOF Parallel Manipulator with Two Limbs

被引：0

作者：

Xie Z. ^{[1
]}

Cheng Q. ^{[1
]}

Ding J. ^{[2
]}

He M. ^{[2
]}

Fan N. ^{[3
]}

Wu X. ^{[2
]}

机构：

[1] State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing

[2] School of Mechanical Engineering, Chongqing University of Technology, Chongqing

[3] Research Center of Laser Fusion, China Academy of Engineering Physics, Sichuan, Mianyang

来源：

Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2022年 / 33卷 / 14期

关键词：

dimensional design; inverse position; parallel manipulator; performance analysis; workspace;

D O I：

10.3969/j.issn.1004-132X.2022.14.006

中图分类号：

学科分类号：

摘要：

A novel 6-DOF parallel manipulator was proposed. The manipulator was composed of two kinematic subchains, each subchain contained an active spherical joint. Compared with the conventional 6-DOF parallel manipulators, the reduction of subchains might increase the workspace of manipulator. The closed-loop vector method was presented to determine the inverse position of the proposed manipulator. Then, the velocity mapping relation between the input and output of the manipulator was analyzed and the Jacobian matrix was established. The workspace and global conditioning index were used as performance evaluation indexes, and the dimensional design of the proposed manipulator was completed with the performance atlas method. Based on the dimension parameters, the workspace, dexterity, load capacity and stiffness capacity were comprehensively analyzed under certain posture. Finally, a 3D printing prototype was built, and the practical applications were illustrated. © 2022 China Mechanical Engineering Magazine Office. All rights reserved.

引用

页码：1680 / 1690

页数：10

共 29 条

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