Optimizing the kinematic chains for a spatial parallel manipulator via searching the desired dexterous workspace

被引：20

作者：

Zhao, Jing-Shan ^{[1
]}

Zhang, Sheng-Lan

Dong, Jing-Xin

Feng, Zhi-Jing

Zhou, Kai

机构：

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

[2] Hubei Automot Ind Inst, Dept Automobile Engn, Shiyan 442002, Hubei Province, Peoples R China

来源：

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2007年 / 23卷 / 01期

关键词：

dexterous workspace; algorithm; optimize; spatial parallel manipulator; kinematic chain; degree of freedom;

D O I：

10.1016/j.rcim.2005.09.003

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

This paper exploits a new algorithm to optimize the length of the legs of a spatial parallel manipulator for the purpose of obtaining a desired dexterous workspace rather than the whole reachable workspace. With the analysis of the degree of freedom (DoF) of a manipulator, we can select the least number of variables to depict the kinematic constraints of each leg of a manipulator. The optimum parameters can be obtained by searching the extreme values of the objective functions with the given adroit workspace. Example is utilized to demonstrate the significant advantages of this method in the dexterous workspace synthesis. In applications, this method can be widely used to synthesize, optimize and create all kinds of new spatial parallel manipulator with a desired dexterous workspace. (c) 2005 Elsevier Ltd. All rights reserved.

引用

页码：38 / 46

页数：9

共 50 条

[21] On the workspace of spatial parallel manipulator with multi-translational degrees of freedom
Jing-Shan Zhao
Zhi-Jing Feng
Kai Zhou
[J]. The International Journal of Advanced Manufacturing Technology, 2005, 27 : 112 - 118
[22] THE ANALYSIS OF MAXIMAL WORKSPACE OF THE 3-RRS SPATIAL PARALLEL MANIPULATOR
Nedezki, Claudiu Mihai
Trif, Adrian
Kerekes, Gheorghe
[J]. ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING, 2014, 57 (04): : 505 - 508
[23] Kinematic analysis and workspace optimization of a novel 4RPSP+PS parallel manipulator
Zarkandi, Soheil
[J]. MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES, 2021, 49 (01) : 131 - 153
[24] Workspace and Kinematic Transmission Performance Analyses of a 2-RPU&SPR Parallel Manipulator
Zhang, Tongchen
Li, Bin
Shang, Bo
Zhao, Xinhua
[J]. 2017 2ND INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM), 2017, : 414 - 419
[25] A fully geometric approach for the workspace area of the Gantry-Tau parallel kinematic manipulator
Tyapin, Ilya
Hovland, Geir
Brogardh, Torgny
[J]. PROCEEDINGS OF THE 13TH IASTED INTERNATIONAL CONFERENCE ON ROBOTICS AND APPLICATIONS/PROCEEDINGS OF THE IASTED INTERNATIONAL CONFERENCE ON TELEMATICS, 2007, : 437 - +
[26] Kinematic synthesis of a spatial 3-RPS parallel manipulator
Kim, HS
Tsai, LW
[J]. JOURNAL OF MECHANICAL DESIGN, 2003, 125 (01) : 92 - 97
[27] Optimizing Stiffness of a Novel Parallel-Actuated Robotic Shoulder Exoskeleton for a Desired Task or Workspace
Hunt, Justin
Artemiadis, Panagiotis
Lee, Hyunglae
[J]. 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2018, : 6745 - 6751
[28] Position, Jacobian and workspace analysis of a 3-PSP spatial parallel manipulator
Rezaei, Amir
Akbarzadeh, Alireza
Nia, Payam Mahmoodi
Akbarzadeh-T, Mohammad-R.
[J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2013, 29 (04) : 158 - 173
[29] Workspace and rotational capability analysis of a spatial 3-DoF parallel manipulator
Liu, XJ
Wang, JS
Wang, QM
Li, TM
[J]. PROGRESS IN NATURAL SCIENCE-MATERIALS INTERNATIONAL, 2004, 14 (11) : 996 - 1003
[30] Workspace and rotational capability analysis of a spatial 3-DoF parallel manipulator
LIU Xinjun 1*
2. National Astronomical Observatories
[J]. Progress in Natural Science:Materials International, 2004, (11) : 60 - 67

← 1 2 3 4 5 →