Kinematics Performance Optimization for 6PUS Parallel Mechanism

Xing Qiang Tan

doi:10.4028/www.scientific.net/AMR.569.593

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 569Kinematics Performance Optimization for 6PUS...

Kinematics Performance Optimization for 6PUS Parallel Mechanism

Abstract:

Several crucial parameters to a new type of 6PUS parallel mechanism is introduced in this paper. In order to select optimization parameters to kinematics performance index, evaluated method for kinematics performance index of this mechanism is concluded and in it’s full working field loci sample arithmetic is built to calculate condition number of Jaccobian matrix that was proved is important to kinematics performance. Based on this theory to study kinematics performance and according to Kinematics performance index optimized parameters are obtained. The research results show that the preferable range of length of motion platform is from 0.45m to 0.50m and that of width of motion platform is from 0.65m-0.70m,as well as that of length of tie rods is from 0.98m to 1.08m and that of span of guide rail is not less than 1.0m.

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Periodical:

Advanced Materials Research (Volume 569)

Pages:

593-597

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.569.593

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Online since:

September 2012

Authors:

Xing Qiang Tan

Keywords:

Jaccobian Matrix, Kinematics Performance, Matrix Condition Number, Parallel Mechanism

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References

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