Workspace Analysis and Parameter Optimization of 3-DOF Parallel Mechanism

Rui Fan; Huan Liu; Dan Wang

doi:10.4028/www.scientific.net/AMM.373-375.2136

Paper Titles

Study on Throttle Methods for Hydrostatic Bearing
p.2119

Monitoring System of Truck Crane Boom Lifting and Slewing Operating Reliability
p.2124

Structure Arrangement and the Impact Analysis of Hybrid Passenger
p.2128

The Development of the Electro-Hydraulic Driving Bicycle
p.2132

Workspace Analysis and Parameter Optimization of 3-DOF Parallel Mechanism
p.2136

Engine Parameters Optimization Design for Mine Dump Truck Based on the Genetic Algorithm
p.2143

Investigation on the Development of Knowledge-Based Engineering and its Application in Rapid Design of Process Chamber of IC Equipment
p.2147

Research on the Dynamic Model and the Characteristics of Brown Rice Humidifier Ventilation Countercurrent Moisture Conditioning
p.2156

Research on Power Systems-Driven Model of Hybrid Electric Sanitation Vehicle
p.2161

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 373-375Workspace Analysis and Parameter Optimization of...

Workspace Analysis and Parameter Optimization of 3-DOF Parallel Mechanism

Abstract:

A spatial 3-DOF translational parallel mechanism is analyzed. Its inverse kinematic model is established. The section view of the workspace of the parallel mechanism is presented via boundary search method under the defined constraints. Considering the workspace volume as the optimization object, the relationship between structural parameters and workspace volume is obtained and the structural parameters to be optimized are determined. Finally, the optimization configuration of the mechanism is obtained. The results show that the volume of the workspace increases 1.55 times as much as the original volume, which lay the foundation for the architecture design.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 373-375)

Pages:

2136-2142

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.373-375.2136

Citation:

Cite this paper

Online since:

August 2013

Authors:

Rui Fan, Huan Liu, Dan Wang

Keywords:

Kinematics, Parallel Mechanism, Parameter Optimization, Workspace

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Jinsong Wang, Xinjun Liu, Chao Wu, Optimal design of a new spatial 3-DOF parallel robot with respect to a frame-free index, Science in China Series E: Technological Sciences, 52(4), (2009): 986-999.

DOI: 10.1007/s11431-008-0305-4

Google Scholar

[2] LiuK, Fitzgerald J M, Lewis F L, Kinematic analysis of a steward platform manipulator, IEEE Transactions on industrial electronics, 4(2) , (1993): 282-293.

DOI: 10.1109/41.222651

Google Scholar

[3] Xianguo Han, Wuyi Chen, The Analysis of the 3-PSS Mechanism Kinematics Characteristics Based on the Screw Theory, Machine Tool & Hydraulics(2005).

Google Scholar

[4] Zhiyou Feng, Yonggang Li, Ce Zhang, Present State and Perspectives of Research on Kinematics and Dynamics of Parallel Manipulators, Chinese Journal of Mechanism Engineering, 17(9), (2006): 979-984.

Google Scholar

[5] Feng Liu, Xiangjun Wang, Wei Xu, Parameterized Design of Three Degree-of-Freedom Parallel Mechanism, Journal of System Simulation, 21(11), (2009): 3479-3483.

Google Scholar

[6] Zhen Huang, Lingfu Kong and Yuefa Fang, The Mechanism Theory and Control of the Parallel Robot Manipulator, China Machine press, (1997).

Google Scholar

[7] Fei Meng, Workspace Analysis of the Parallel Mechanism Via Boundary Search Method, Manufacturing Automation, 28, (2006): 113-115.

Google Scholar