Abstract
Kinematics characteristic is the representation of the working performance of parallel kinematics machine (PKM). Two kinds of parallel kinematics machines, Trimule and Tricept, are studied for comparative kinematics analysis in this paper. Firstly, global coordinate system and moving coordinate system are established based on structures of Tricept and Trimule. Secend, generalized Jacobian matrix is formulated, and then the homegeneous Jacobian matrix is formulated for dimensional normalization. The condition number of dimensionally homogeneous Jacobian matrix is used as the local kinematics performance evaluation index to analyze the kinematics performance of two PKMs. Through comparative analysis with κmax, κmin, \({\bar{\kappa }}\) and \({\tilde{\kappa }}\) in the whole working domain, the results show that κ varies with x, y, and z. Trimule is more prominent in the extreme value of motion performance index, while Tricept’s motion performance is more balanced. Tricept has a larger envelope range than Trimule with the same κ value and has a larger optimal workspace.
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Acknowledgments
This work was supported by the National Key Research Project under Grant 2017ZX04013001.
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Wang, C., Zhao, Y., Dong, C., Liu, Q., Niu, W., Liu, H. (2019). Kinematic Performance Comparison of Two Parallel Kinematics Machines. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_288
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DOI: https://doi.org/10.1007/978-3-030-20131-9_288
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