Performance Analysis and Comparison of Planar 3-DOF Parallel Manipulators with One and Two Additional Branches

被引：50

作者：

Wu, Jun ^{[1
,2
,3
]}

Li, Tiemin ^{[1
,2
,3
]}

Wang, Jinsong ^{[1
,2
,3
]}

Wang, Liping ^{[1
,2
,3
]}

机构：

[1] Tsinghua Univ, Dept Mech Engn, State Key Lab Tribol, Beijing 100084, Peoples R China

[2] Tsinghua Univ, Dept Mech Engn, Inst Mfg Engn, Beijing 100084, Peoples R China

[3] Beijing Key Lab Precis Ultra Precis Mfg Equipment, Beijing 100084, Peoples R China

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2013年 / 72卷 / 01期

关键词：

Velocity; Stiffness; Parallel manipulator; Actuation redundancy; Optimum performance region; OPTIMUM DESIGN; 3-RRR; 2-RRR;

D O I：

10.1007/s10846-013-9824-8

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 constructs a symmetrical 3-DOF parallel manipulator with one and two additional branches, respectively. The conditioning, stiffness, velocity and payload indices are developed to compare the performance of the two parallel manipulators, one with one additional branch, and the other with two additional branches. The optimum performance region with desirable performance is investigated. The simulations show that the redundant manipulator with one additional branch has a larger optimum performance region with the given conditioning, velocity, payload and stiffness performance. The results are not only important for designers to design the 3-DOF parallel manipulator, but also helpful for researchers to determine how many additional branches are added to develop a redundant parallel manipulator.

引用

页码：73 / 82

页数：10

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