Abstract
This paper deals with the dimensional synthesis of a 2-PRS-PRRU (P, R, S and U standing for actuated prismatic, revolute, spherical and universal joint, respectively) parallel manipulator considering both dexterity and motion/force transmission. First, the inverse kinematic analysis of the parallel robot is presented. Next, the reciprocal of the condition number and the global conditioning index (GCI) based on a dimensionally homogeneous Jacobian matrix are used to evaluate the dexterity. Then, local transmission index (LTI) and good transmission workspace (GTW) are used for evaluation of the motion/force transmissibility of the 2-PRS-PRRU parallel manipulator. Finally, considering the GCI and GTW simultaneously, the parameter-finiteness normalization method is used to produce an optimal design. Both dexterity and motion/force transmission can be improved with the optimized link parameters.
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Acknowledgments
The work is supported by the National Natural Science Foundation of China (NSFC) under Grant 51275479 and 51525004 and Natural Science Foundation of Zhejiang Province under Grant LZ14E050005.
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Xu, L., Chen, Q., Tong, J., Li, Q. (2017). Dimensional Synthesis of a 2-PRS-PRRU Parallel Manipulator. In: Zhang, X., Wang, N., Huang, Y. (eds) Mechanism and Machine Science . ASIAN MMS CCMMS 2016 2016. Lecture Notes in Electrical Engineering, vol 408. Springer, Singapore. https://doi.org/10.1007/978-981-10-2875-5_29
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DOI: https://doi.org/10.1007/978-981-10-2875-5_29
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