Dimensional Synthesis of a 2-PRS-PRRU Parallel Manipulator
This paper deals with the dimensional synthesis of a 2-PRS-PRRU (P,R,S and U standing for actuated prismatic,revolute,spherical and universal joint,respectively) parallel manipulator considering both dexterity and motion/force transmission.First,the inverse kinematic analysis of the parallel robot is presented.Next,the reciprocal of the condition number and the global conditioning index (GCI) based on a dimensionally homogeneous Jacobian matrix are used to evaluate the dexterity.Then,local transmission index (LTI) and good transmission workspace (GTW) are used for evaluation of the motion/force transmissibility of the 2-PRS-PRRU parallel manipulator.Finally,considering the GCI and GTW simultaneously,the parameter-finiteness normalization method is used to produce an optimal design.Both dexterity and motion/force transmission can be improved with the optimized link parameters.
Dimensional synthesis Parallel manipulator Dexterity Motion/force transmission
Lingmin Xu Qiaohong Chen Junhua Tong Qinchuan Li
Mechatronic Institute, Zhejiang Sci-Tech University, Hangzhou 310018,Zhejiang Province, People’s Rep School of Information, Zhejiang Sci-Tech University, Hangzhou 310018,Zhejiang Province, People’s Rep
国际会议
广州
英文
341-355
2016-12-15（万方平台首次上网日期，不代表论文的发表时间）