Dimensional Synthesis of a 3-DOF Parallel Manipulator with One Rotation Freedom

摘要：

　　Taking a 3-DOF translational parallel manipulator with full circle rotation as the aim of study,an approach for the optimal dimensional synthesis was proposed.Inverse kinematics and error models were deduced,whose correlative algebra characteristics were selected as the macrocosm performance evaluating index.Dimensional synthesis of the parallel manipulator was carried out with a goal to minimize the error mapping feature index under various geometrical and performance constrains.The research lays the foundation for the building of prototype.

关键词： Parallel Manipulator Kinematic Analysis Dimensional Synthesis

作者: Yanbing Ni Nan Wu Xueyong Zhong

作者单位: School of Mechanical Engineering,Tianjin University,Tianjin 300072,China FAW Jiefang Automotive Company,Ltd,Axle Filiale,Changchun 130011,China

会议类型: 国际会议

会议名称: The 3th IFToMM Asian Conference on Mechanism and Machine Science 2014 International Conference on Mechanism and Machine Science,2014(第三届IFTOMM亚洲机构与机器科学会议暨2014海峡两岸机构学学术会议)

会议地点: 天津

会议语种:英文

页码: 1-8

在线出版日期: 2014-07-06（万方平台首次上网日期，不代表论文的发表时间）