Prescribed flexible orientation workspace and performance comparison of non-redundant 3-DOF planar parallel mechanisms

被引：12

作者：

Li, Canran ^{[1
]}

Wang, Nianfeng ^{[1
]}

Chen, Kunjie ^{[1
]}

Zhang, Xianmin ^{[1
]}

机构：

[1] South China Univ Technol, Guangdong Key Lab Precis Equipment & Mfg Technol, Guangzhou 510640, Peoples R China

来源：

MECHANISM AND MACHINE THEORY | 2022年 / 168卷

基金：

中国国家自然科学基金; 国家重点研发计划;

关键词：

Parallel mechanism; Multi-objective optimization; Rotational dexterity; Workspace; KINEMATIC DESIGN; MANIPULATORS; SINGULARITY; METHODOLOGY; PLATFORM;

D O I：

10.1016/j.mechmachtheory.2021.104602

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The functionality of a workspace is one of the most important considerations in planar parallel manipulators (PPMs) design. Dexterous workspace (DW) is the subset of the reachable workspace (RW) and it means that full rotational dexterity is preserved in every translational position in space. However, DW is impractical as PPMs cannot rotate a full 360 degrees because of interference. This paper proposes a workspace called prescribed flexible orientation workspace (PFOW) that characterizes the orientation capability of PPMs. To optimize and compare 3 degree-of-freedom (3-DOF) PPMs, a normalized and unified performance characteristic index is built based on indices including PFOW, condition number, velocity, payload, stiffness, and transmission indices which plays a guiding role in the optimization process. The best configuration is obtained through graphical performance comparison. In general, this work presents the analysis of rotational dexterity of PPMs and provides a guidance for optimization and selection.

引用

页数：16

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