Dynamic modeling and performance optimization of a 2-PRU-PPRC 2T1R redundant parallel manipulator

被引：0
|
作者：
Shao, Hua [1 ,2 ,3 ]
Zhang, Hua [2 ,3 ,4 ]
Yan, Wei [4 ]
机构：
[1] Wuhan Univ Sci & Technol, Acad Green Mfg Engn, Wuhan 430081, Peoples R China
[2] Minist Educ, Key Lab Met Equipment & Control Technol, Beijing, Peoples R China
[3] Hubei Key Lab Mech Transmiss & Mfg Engn, Wuhan, Peoples R China
[4] Wuhan Univ Sci & Technol, Wuhan 430081, Peoples R China
来源：
2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019) | 2019年
基金：
中国国家自然科学基金;
关键词：
OPTIMAL KINEMATIC DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents an improved performance chart based design methodology fir the optimum design of the 2-PRU-PPRC 2T1R redundant parallel manipulator with specified workspace, here P, R, U, C denote the prismatic, revolute, universal and cylindrical joints, respectively. The performance indices such as transmission index and dynamic dexterity are analyzed, and a new workspace efficiency index is proposed to evaluate the manipulator efficiency. An improved performance chart based design methodology, which take both geometrical parameters and task workspace parameter into account, is applied to obtain the optimum result with specified workspace. This study brings valuable optimization method for the 2T1R parallel manipulator, and it is also applicable for other parallel manipulator optimization with specified workspace.
引用
收藏
页码：951 / 956
页数：6
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