The Performance Analysis and Optimum Design of A 3-DOF Parallel Manipulator
In this paper, a 3-dof 3-PRUR PM(parallel manipulator) is chosen for performance analysis and optimum design. At first, we analyzed the mobility of the PM by using screw theory. Then the kinematics of this PM is studied based on the structural characteristics and the Jacobian matrix is derived. Furthermore we research some performance indices with respect to Jacobain matrix based on the whole workspace and non-dimensional parameters when the input is given and their performance atlases are obtained with different inputs. Finally, optimum design of the PM is determined according to the performance atlases and some examples are presented.
parallel manipulator optimum design Jacobian matrix non-dimensional parameters performance atlas
Daxing Zeng Zhen Huang
Robotics Research Center of Yanshan UniversityQinhuangdao, Hebei, 066004
国际会议
北京
英文
2007-08-05（万方平台首次上网日期，不代表论文的发表时间）