Optimal Kinematic Design of a 2-DoF Translational Parallel Manipulator with High Speed and High Precision

被引：0
|
作者：
Zhang, Gang [1 ]
Liu, PinKuan [1 ]
Ding, Han [1 ]
机构：
[1] Shanghai Jiao Tong Univ, Sch Mech Engn, State Key Lab Mech Syst & Vibrat, Shanghai 200240, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, PT I: ICIRA 2011 | 2011年 / 7101卷
关键词：
Translational parallel manipulator; direct drive; optimal kinematic design; global and comprehensive performance index (GCPI); DIMENSIONAL SYNTHESIS; OPTIMIZATION; ISOTROPY; ROBOT;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper addresses the performance analysis and kinematic optimization of a 2-DoF translational parallel manipulator (TPM) with high speed and high precision. By combining the advantages of parallel manipulator and direct drive linear (DDL) motors, a new type of 2-DoF translational parallel manipulator is presented and explicit expressions of inverse and direct kinematic equations are derived. Based on the kinematic performance analysis of the 2-DoF TPM, a global and comprehensive performance index (GCPI), which is based on dexterity, stiffness, workspace and singularity avoidance, is proposed. The optimization results according to different performance indices are discussed. The proposed 2-DoF TPM is particularly suitable for applications requiring high-speed and high-precision motions.
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页码：445 / 454
页数：10
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