Optimal Kinematic Design of a 2-DoF Translational Parallel Manipulator with High Speed and High Precision

被引：0

作者：

Zhang, Gang ^{[1
]}

Liu, PinKuan ^{[1
]}

Ding, Han ^{[1
]}

机构：

[1] Shanghai Jiao Tong Univ, Sch Mech Engn, State Key Lab Mech Syst & Vibrat, Shanghai 200240, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, PT I: ICIRA 2011 | 2011年 / 7101卷

关键词：

Translational parallel manipulator; direct drive; optimal kinematic design; global and comprehensive performance index (GCPI); DIMENSIONAL SYNTHESIS; OPTIMIZATION; ISOTROPY; ROBOT;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper addresses the performance analysis and kinematic optimization of a 2-DoF translational parallel manipulator (TPM) with high speed and high precision. By combining the advantages of parallel manipulator and direct drive linear (DDL) motors, a new type of 2-DoF translational parallel manipulator is presented and explicit expressions of inverse and direct kinematic equations are derived. Based on the kinematic performance analysis of the 2-DoF TPM, a global and comprehensive performance index (GCPI), which is based on dexterity, stiffness, workspace and singularity avoidance, is proposed. The optimization results according to different performance indices are discussed. The proposed 2-DoF TPM is particularly suitable for applications requiring high-speed and high-precision motions.

引用

页码：445 / 454

页数：10

共 23 条

[1] Optimum synthesis of planar parallel manipulators based on kinematic isotropy and force balancing [J].