A Systematic Type and Dimensional Design Method for Parallel Kinematic Mechanisms
The challenging issues in design of parallel robots are that (1) the topology of robot mechanisms cannot be described by digital number; (2) the performance evaluation depends on the entire domain and quantitative description; and (3) the dimension synthesis is a multi-objective and nonlinear problem.Firstly,a systematic method named GF set theory is presented including the definition,description and classification of GF sets for end-effector; basic rules for GF set intersection; number synthesis model of the relationship among the number of the limbs,the number of actuated limbs,the dimension of the characteristics of the end-effectors for parallel topologies,the number of actuators of limbs and the number of passive limbs; basic properties and rules of GF set intersections; theorem of rotating axis movement in 2D plane and the limb design; process of topology design for the Parallel kinematic mechanisms.Secondly,for the performance evaluation of parallel kinematic mechanisms,the criteria of isotropy and entire domain quantitative evaluation with the displacement separated from the orientation,and the reducible model of the relationship among the inputs and outputs of parallel robots are established considering the generalized translation and angular velocities,generalized force and torque,generalized displacement and orientation stiffness,generalized displacement and orientation error.Then,a physical model of solution space (PMSS) method is proposed for the dimensional design of parallel kinematic mechanisms including the PMSS mathematical model,mapping atlas of the relationship between the performance and dimensions of the mechanisms.Finally,by using the GF set theory and performance atlas over the PMSS,twelve novel machines with parallel topology have been invented and developed for industrial applications,and thirty-five inventions are patented.
Parallel Kinematic Mechanism Type Design GF Set Dimensional Design Physical Model of Solution Space Performance Atlas
Feng Gao
State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 200240,China
国际会议
天津
英文
1-6
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）