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Kinematic Performance Comparison of Two Parallel Kinematics Machines

  • Chensheng Wang
  • Yanqin Zhao
  • Chenglin Dong
  • Qi Liu
  • Wentie Niu
  • Hantao Liu
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

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.

Keywords

3-UPS&UP Parallel kinematics machine Kinematic performance 

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Notes

Acknowledgments

This work was supported by the National Key Research Project under Grant 2017ZX04013001.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Chensheng Wang
    • 1
  • Yanqin Zhao
    • 1
  • Chenglin Dong
    • 1
  • Qi Liu
    • 1
  • Wentie Niu
    • 1
  • Hantao Liu
    • 1
  1. 1.Key Laboratory of Mechanism Theory and Equipment Design of Ministry of EducationTianjin UniversityTianjinChina

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