Design optimization of parallel manipulators with required pose resolution
Performance of a parallel manipulator heavily relies on its position/orientation resolution. Without a good resolution the manipulator is difficult to achieve a high stiffness. Therefore how to obtain the required resolution is a basic issue to design a parallel manipulator. This paper presents a method to solve the problem. Firstly, the mathematical definition of the position/orientation resolution is given. Then we discuss how to calculate them using Rayleigh quotient. And the design optimization problem is formulated. Fundamental concepts of the method are illustrated through a 3-RRR planar parallel manipulator. The design process to achieve an optimized task space of the required pose resolution is also demonstrated in the example.
Hao Li Yuru Zhang Jian S. Dai
State Key Laboratory of Virtual Reality Technology and System, Beihang University, Beijing, 100191 C Robotics Research Center, Department of Mechanical Engineering, Kings College London, University of
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3952-3957
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）