Kinematics Performance Optimization for 6PUS Parallel Mechanism
Several crucial parameters to a new type of 6PUS parallel mechanism is introduced in this paper. In order to select optimization parameters to kinematics performance index, evaluated method for kinematics performance index of this mechanism is concluded and in its full working field loci sample arithmetic is built to calculate condition number of Jaccobian matrix that was proved is important to kinematics performance. Based on this theory to study kinematics performance and according to Kinematics performance index optimized parameters are obtained. The research results show that the preferable range of length of motion platform is from 0.45m to 0.50m and that of width of motion platform is from 0.65m-0.70m,as well as that of length of tie rods is from 0.98m to 1.08m and that of span of guide rail is not less than 1.0m.
Parallel Mechanism Jaccobian Matrix kinematics performance matrix condition number
Tan Xingqiang
Mechanic Engineering College of Chongqing University, Shapingba District, Chongqing,China School of Mechatronic Engineering of Panzhihua University, Panzhihua, Sichuan,China
国际会议
厦门
英文
593-597
2012-06-05（万方平台首次上网日期，不代表论文的发表时间）