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International Conference on Intelligent Robotics and Applications

ICIRA 2011: Intelligent Robotics and Applications pp 445–454Cite as

Optimal Kinematic Design of a 2-DoF Translational Parallel Manipulator with High Speed and High Precision

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7101))

Abstract

This paper addresses the performance analysis and kinematic optimization of a 2-DoF translational parallel manipulator (TPM) with high speed and high precision. By combining the advantages of parallel manipulator and direct drive linear (DDL) motors, a new type of 2-DoF translational parallel manipulator is presented and explicit expressions of inverse and direct kinematic equations are derived. Based on the kinematic performance analysis of the 2-DoF TPM, a global and comprehensive performance index (GCPI), which is based on dexterity, stiffness, workspace and singularity avoidance, is proposed. The optimization results according to different performance indices are discussed. The proposed 2-DoF TPM is particularly suitable for applications requiring high-speed and high-precision motions.

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Author information

Authors and Affiliations

  1. State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai, 200240, China

    Gang Zhang, PinKuan Liu & Han Ding

Authors
  1. Gang Zhang
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  2. PinKuan Liu
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  3. Han Ding
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Editor information

Editors and Affiliations

  1. Zentrum für Lern- und Wissensmanagement, Lehrstuhl für Informationsmanagement im Maschinenbau, RWTH Aachen, Dennewartstraße 27, 52068, Aachen, Germany

    Sabina Jeschke

  2. School of Creative Technologies, Intelligents Systems and Biomedical Robotics Group, University of Portsmouth, Eldon Building, Winston Churchill Avenue, PO1 3QL, Portsmouth, UK

    Honghai Liu

  3. ZLW/IMA, RWTH Aachen, Dennewartstraße 27, 52068, Aachen, Germany

    Daniel Schilberg

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© 2011 Springer-Verlag Berlin Heidelberg

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Zhang, G., Liu, P., Ding, H. (2011). Optimal Kinematic Design of a 2-DoF Translational Parallel Manipulator with High Speed and High Precision. In: Jeschke, S., Liu, H., Schilberg, D. (eds) Intelligent Robotics and Applications. ICIRA 2011. Lecture Notes in Computer Science(), vol 7101. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25486-4_45

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  • DOI: https://doi.org/10.1007/978-3-642-25486-4_45

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-25485-7

  • Online ISBN: 978-3-642-25486-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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