Comparison of Parallel Kinematic Structures with Three Translational Degrees of Freedom and Linear Actuation
The development of new robot structures,in particular of parallel kinematic structures (PKS),is widely systematized by different structure synthesis methods.Recent research increasingly focuses on PKS with less than six degrees of freedom (DoF).However,an overall comparison and evaluation of these structures is missing.Hence the aim of this paper is to compare symmetrical PKS with three translational DoF using different evaluation criteria in order to point out their strengths and weak-nesses.Workspace,maximum actuation forces and velocities,power,actuator stiffness,accuracy and transmission behavior are taken into account.A selection scheme based on possible con-figurations of translational PKS including also different frame configurations is presented.Moreover,an optimization method based on a genetic algorithm is described to determine the geo-metric parameters of the selected PKS for an exemplary load case and a prescribed workspace.Finally,the values of the mentioned criteria are calculated for all considered PKS.The results are presented using box plots which allow a direct comparison.
Parallel kinematic structures Comparison Benchmark Selection scheme
Isabel Prause Sami Charaf Eddine Burkhard Corves
Department of Mechanism Theory and Dynamics of Machines,RWTH Aachen University,Aachen,Germany
国际会议
天津
英文
1-9
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）