A new method for optimum design of parallel manipulator based on kinematics and dynamics

被引：0
作者：
Jun Wu
Liping Wang
Zheng You
机构：
[1] Tsinghua University,Department of Precision Instruments and Mechanology
来源：
Nonlinear Dynamics | 2010年 / 61卷
关键词：
Parallel manipulator; Optimum design; Kinematics; Dynamic dexterity; Performance atlas;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper presents a new method for the optimum design of parallel manipulators by taking both the kinematics and dynamic characteristics into account. The optimum design of a 3-DOF 4-RRR planar parallel manipulator with actuation redundancy is investigated to demonstrate the method. The kinematic performance indices such as the conditioning index, the velocity index, and workspace area are analyzed. Further, the dynamic dexterity, which is used to evaluate the dynamic characteristics, is investigated. The corresponding atlases are represented graphically in the established design space. Based on these atlases, the geometrical parameters without dimension are determined. Then the optimum dimensional parameters are achieved based on the optimum non-dimensional result. By using the method proposed in this paper, the designer can obtain the optimum result with respect to both kinematic performance indices and dynamic performance indices. Since the dynamic performance is considered in the process of optimum design by using the method proposed in this paper, it is expected to realize the high dynamics of parallel manipulators.
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收藏
页码：717 / 727
页数：10
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