Dimensional Synthesis of a 2UPS-UPR Parallel Machine Tool
This paper deals with the dimensional synthesis of a 2UPS-UPR parallel mechanism tool newly designed by Northeastern University. On the basis of establishing kinematics equations and obtaining Jacobian matrix, the performance index of dimensional synthesis is given which is the average of 729 values of the condition number of Jacobian matrix corresponding to 729 positions in the workspace. With MATLAB software, the effects are simulated which the structural parameters of parallel machine tools have on dimensional synthesis, their change laws are gained, and then dimensional synthesis of parallel machine tools is conducted based on these laws.
Kai Cheng, Yongxian Liu, Xipeng Xu and Hualong Xie
L. Zhao et al., "Dimensional Synthesis of a 2UPS-UPR Parallel Machine Tool", Applied Mechanics and Materials, Vols. 16-19, pp. 554-558, 2009