Dynamic Performance Evaluation of a 2-DoF Planar Parallel Mechanism Regular Paper

被引：5

作者：

Hao Qi ^{[1
,2
]}

Guan Liwen ^{[1
]}

Wang Jianxin ^{[2
]}

机构：

[1] Tsinghua Univ, Dept Precis Instruments & Mechanol, Beijing 100084, Peoples R China

[2] Inst Army Aviat, Dept Helicopter Mech Engn, Beijing, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2012年 / 9卷

关键词：

Parallel Mechanism; Dynamic Performance Evaluation; Dynamic Manipulability Ellipsoid; Comprehensive Acceleration Ellipsoid; MANIPULATABILITY; MANIPULATORS;

D O I：

10.5772/54731

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The acceleration performance function and dynamic performance evaluation combining the acceleration, velocity, gravity and external force of a 2-DoF planar parallel mechanism are presented in this paper. By means of the principle of virtual work, the inverse dynamic model and acceleration performance function of the planar parallel mechanism are setup. Based on the factors in the acceleration performance function, the effect on the acceleration performance of parallel mechanisms is investigated. Then a new method considering the acceleration factor, velocity factor, gravity factor and external force factor for dynamic performance evaluation of the parallel mechanism is introduced, which can evaluate the dynamic performance of high-speed parallel mechanisms more exactly. Based on this method, the evaluation indices used in dynamic optimization are introduced. These indices overcome the limitation of commonly used indices, and lay the foundation for dynamic optimization of parallel mechanisms.

引用

页数：11

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