Analysis and Optimization of a Spatial Parallel Mechanism for a New 5-DOF Hybrid Serial-Parallel Manipulator

被引：18

作者：

DongSheng Zhang ^{[1
]}

YunDou Xu ^{[1
,2
]}

JianTao Yao ^{[1
,2
]}

YongSheng Zhao ^{[1
,2
]}

机构：

[1] Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University

[2] Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education,Yanshan University

来源：

Chinese Journal of Mechanical Engineering | 2018年 / 31卷 / 03期

关键词：

Parallel mechanism; Performance indices; Optimal design; Performance atlas;

D O I：

暂无

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

Hybrid manipulators have potentially application in machining industries and attract extensive attention from many researchers on the basis of high sti ness and high dexterity. Therefore,in order to expand the application prospects of hybrid manipulator,a novel 5?degree?of?freedom(DOF) hybrid serial?parallel manipulator(HSPM) is proposed. Firstly,the design plan of this manipulator is introduced. Secondly,the analysis of this manipulator is carried out in detail,including kinematics analysis,statics analysis,and workspace analysis. Especially,an amplitude equivalent method of disposing the over?constrained force/couple to the non?overconstrained force/couple is used in the statics analysis. Then,three performance indices are used to optimize the PM. Two of them have been widely used,and the third one is a new index which considers the characteristics of the actuated force. Based on the performance indices,the performance atlas is drawn and the optimal design of the PM is investigated. In order to satisfy the anticipant kinetic characteristics of the PM,the verification of the optimized physical dimension is done and the workspace based on the optimized physical dimension is carried out. This paper will lay good theoretical foundations for application of this novel HSPM and also can be applied to other hybrid manipulators.

引用

页码：60 / 68

页数：9

共 17 条

[11]

Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg[J] . Yi Lu,Xuili Zhang,Chunping Sui,Jianda Han,Bo Hu.Robotica . 2012 (2)

[12]

Geometric determination of the dexterous workspace of n- RR RR and n- R R P R manipulators[J] . André Gallant,Roger Boudreau,Marise Gallant.Mechanism and Machine Theory . 2012

[13]

Geometrical approach of planar hyper-redundant manipulators: Inverse kinematics, path planning and workspace[J] . Samer Yahya,M. Moghavvemi,Haider A.F. Mohamed.Simulation Modelling Practice and Theory . 2010 (1)

[14]

Performance evaluation of parallel manipulators: Motion/force transmissibility and its index[J] . Jinsong Wang,Chao Wu,Xin-Jun Liu.Mechanism and Machine Theory . 2010 (10)

[15]

Kinematic modeling of Exechon parallel kinematic machine[J] . Z.M. Bi,Y. Jin.Robotics and Computer Integrated Manufacturing . 2010 (1)

[16]

3- PR RR redundant planar parallel manipulator: Inverse displacement, workspace and singularity analyses[J] . Iman Ebrahimi,Juan A. Carretero,Roger Boudreau.Mechanism and Machine Theory . 2006 (8)

[17]

A new approach to orientation workspace analysis of 6-DOF parallel manipulators[J] . Ilian A. Bonev,Jeha Ryu.Mechanism and Machine Theory . 2000 (1)

← 1 2 →