TY - GEN
T1 - Optimal kinematic design of a planar parallel manipulator with high speed and high precision
AU - Li, Juan
AU - Liu, Yanjie
AU - Wang, Chenqi
AU - Sun, Lining
PY - 2006
Y1 - 2006
N2 - This paper introduces a novel 2-DOF high speed and high precision planar parallel manipulator. The manipulator consists of a moving platform that is connected to a fixed base by two limbs. Each limb Is made up of one prismatic and four revolute joints and the two prismatic axes are arranged orthogonally. In contrast to conventional XY-tables, the manipulator investigated herein doesn't need decoupling structure. In this paper, firstly, the optimal configuration of the manipulator is obtained based on the condition number. Secondly, for the optimal configuration, the forward and inverse kinematic equations are derived, and the singularity of the manipulator is analysed. Then, the optimal shape and position of workspace is obtained based on the global performance index. Finally, the dimension optimization design is performed according to the optimization objective function, which considers the global condition index and workspace.
AB - This paper introduces a novel 2-DOF high speed and high precision planar parallel manipulator. The manipulator consists of a moving platform that is connected to a fixed base by two limbs. Each limb Is made up of one prismatic and four revolute joints and the two prismatic axes are arranged orthogonally. In contrast to conventional XY-tables, the manipulator investigated herein doesn't need decoupling structure. In this paper, firstly, the optimal configuration of the manipulator is obtained based on the condition number. Secondly, for the optimal configuration, the forward and inverse kinematic equations are derived, and the singularity of the manipulator is analysed. Then, the optimal shape and position of workspace is obtained based on the global performance index. Finally, the dimension optimization design is performed according to the optimization objective function, which considers the global condition index and workspace.
KW - High speed and high precision
KW - Optimal kinematics design
KW - Planar parallel mechanism
UR - https://www.scopus.com/pages/publications/34247186288
U2 - 10.1109/ICMA.2006.257523
DO - 10.1109/ICMA.2006.257523
M3 - 会议稿件
AN - SCOPUS:34247186288
SN - 1424404665
SN - 9781424404667
T3 - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
SP - 1888
EP - 1892
BT - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
T2 - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Y2 - 25 June 2006 through 28 June 2006
ER -