Parasitic Motion Based Optimal Design of Parallel Manipulators
Parasitic motion is widely believed a drawback of lower mobility parallel mechanisms.Many researchers tried to eliminate or reduce it by kinematic optimization or by special architectural layout.However, the parasitic motion enables the implementation of a higher degrees-of-freedom (DoF) motion task with a lower DoF parallel manipulator to a certain degree.In contrast to the traditional elimination of parasitic motion, in this paper we first propose to take advantage of parasitic motion.By the example of planar five-bar parallel manipulator, we demonstrate to maximize the parasitic rotation so that it is able to accomplish planar manipulation of workpieces with their orientations in a given range.This new design concept will lead to lower cost, lower complexity of kinematics and control.
Parallel Manipulator Parasitic Motion Optimal Design
Zhang Song-zhen Lou Yun-jiang Liao Bin
Key Lab for Advanced Motion Control Technology and Modern Automation Equipments, Harbin Institute of Technology Shenzhen Graduate School, Guangdong, Shenzhen, 518055
国内会议
福州
英文
332-339
2014-10-01（万方平台首次上网日期，不代表论文的发表时间）