Type Synthesis, Kinematic Analysis, and Optimal Design of a Novel Class of Schönflies-Motion Parallel Manipulators

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Type Synthesis, Kinematic Analysis, and Optimal Design of a Novel Class of Schönflies-Motion Parallel Manipulators

Zhibin Li, Member [et al.] - Nama Orang;

A novel class of spatial four degree-of-freedom Schönflies-motion parallel manipulators with four identical subchains is presented. Their features are that each serial subchain undergoes the pure Schönflies motion without redundant joints. The parallel mechanisms possess the simplest topology and are suitable for pick-and-place operations. Kinematic analysis of the 4- parallelmanipulator, including its inverse and forward
kinematics, singularity, and workspace, is discussed in detail. The analysis shows that the moving platform and the base must be in dissimilar dimension for good manipulability performance. The optimal design of the parallel manipulator is formulated as a multiobjective optimization problem. A novel performance index characterizing the approximation of the generated workspace to the prescribed regular workspace, the regular workspace share, is proposed to serve as one of the design objectives. The other objective is the global condition index, which measures the manipulability. The multiobjective optimization problem provides multiple optimal solutions for choice. Simulation verifies that the designed parallel manipulator can approximate the prescribed regular workspace with good condition index.

Index Terms—Global condition index, kinematic analysis, optimal design, parallel manipulators, regular workspace share, Schönflies motion, singularity, type synthesis, workspace.

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Informasi Detail

Judul Seri: IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
No. Panggil: -
Penerbit: New York : IEEE., 2013
Deskripsi Fisik: IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, VOL. 10, NO. 3, JULY 2013
Bahasa: English
ISBN/ISSN: DOI: 10.1109/TASE.20
Klasifikasi: -
Tipe Isi: -
Tipe Media: -
Tipe Pembawa: -
Edisi: VOL. 10, NO. 3, JULY 2013
Subjek: ELEKTRONIK
Info Detail Spesifik: -
Pernyataan Tanggungjawab: agus

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FULL TEXT: Type Synthesis, Kinematic Analysis, and Optimal Design of a Novel Class of Schönflies-Motion Parallel Manipulators

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