The Kinematic Parameters Optimization for a New Type 3-DOF Parallel Manipulator

被引：0

作者：

Zhang, Jianjun ^{[1
]}

Wang, Xiaohui ^{[1
]}

Li, Weimin ^{[1
]}

Zhang, Shunxin ^{[1
]}

Fan, Shuncheng ^{[1
]}

机构：

[1] Hebei Univ Technol, Sch Mech Engn, Tianjin, Peoples R China

来源：

MANUFACTURING PROCESS AND EQUIPMENT, PTS 1-4 | 2013年 / 694-697卷

关键词：

Kinematic parameters optimization; 3-DOF parallel manipulator; Limbs of embedding structures; DESIGN;

D O I：

10.4028/www.scientific.net/AMR.694-697.1722

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Parallel manipulators have the advantages of high stiffness and fine precision but the shortage of low workspace. A new type 3-DOF parallel manipulator with limbs of embedding structures is proposed. The peculiar topological structures make the mobile platform rotate continuously. The kinematics of the parallel manipulator is developed. Two kinematic parameters are decided to be optimized. The evaluation indexes about Jacobian's conditional number are deduced and the optimization model with constraint conditions is constructed. With the optimized kinematic parameters, a graph denotes the Jacobian's conditional number distributed in the workspace.

引用

页码：1722 / 1728

页数：7

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