Optimal design of a 3-leg 6-DOF parallel manipulator for a specific workspace

被引:21
作者
Fu Jianxun [1 ]
Gao Feng [1 ]
机构
[1] Shanghai Jiao Tong Univ, State Key Lab Mech Syst & Vibrat, Shanghai 200240, Peoples R China
关键词
parallel robot; optimal design; workspace; three legs; DIMENSIONAL SYNTHESIS; PRESCRIBED WORKSPACE; ROBOT; OPTIMIZATION; MECHANISM;
D O I
10.3901/CJME.2016.0121.011
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
Researchers seldom study optimum design of a six-degree-of-freedom(DOF) parallel manipulator with three legs based upon the given workspace. An optimal design method of a novel three-leg six-DOF parallel manipulator(TLPM) is presented. The mechanical structure of this robot is introduced, with this structure the kinematic constrain equations is decoupled. Analytical solutions of the forward kinematics are worked out, one configuration of this robot, including position and orientation of the end-effector are graphically displayed. Then, on the basis of several extreme positions of the kinematic performances, the task workspace is given. An algorithm of optimal designing is introduced to find the smallest dimensional parameters of the proposed robot. Examples illustrate the design results, and a design stability index is introduced, which ensures that the robot remains a safe distance from the boundary of sits actual workspace. Finally, one prototype of the robot is developed based on this method. This method can easily find appropriate kinematic parameters that can size a robot having the smallest workspace enclosing a predefined task workspace. It improves the design efficiency, ensures that the robot has a small mechanical size possesses a large given workspace volume, and meets the lightweight design requirements.
引用
收藏
页码:659 / 668
页数:10
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