Optimum design of 3-RRR planar parallel manipulators

被引：14

作者：

Dou, Runliang ^{[1
]}

机构：

[1] Tianjin Univ, Sch Management, Tianjin 300072, Peoples R China

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2010年 / 224卷 / C2期

关键词：

parallel manipulator; velocity index; stiffness index; performance atlas; optimum design; MECHANISMS;

D O I：

10.1243/09544062JMES1658

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This article deals with the optimum design of 3-RRR planar parallel manipulators. Based on the kinematic model and Jacobian matrix, the global conditioning index, global velocity index and global stiffness index of 3-RRR parallel manipulators are investigated. The corresponding atlases are represented graphically in the established design space, and the geometrical parameters without dimension are determined. An example is presented to achieve the optimum dimensional parameter based on the optimum non-dimensional result. The result of this article is not only useful for the development of 3-RRR planar parallel manipulators, but also helpful for the optimum design of other parallel manipulators.

引用

页码：411 / 418

页数：8

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