The Kinematic Parameters Optimization for a New Type 3-DOF Parallel Manipulator

Jian Jun Zhang; Xiao Hui Wang; Wei Min Li; Shun Xin Zhang; Shun Cheng Fan

doi:10.4028/www.scientific.net/AMR.694-697.1722

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 694-697The Kinematic Parameters Optimization for a New...

The Kinematic Parameters Optimization for a New Type 3-DOF Parallel Manipulator

Abstract:

Parallel manipulators have the advantages of high stiffness and fine precision but the shortage of low workspace. A new type 3-DOF parallel manipulator with limbs of embedding structures is proposed. The peculiar topological structures make the mobile platform rotate continuously. The kinematics of the parallel manipulator is developed. Two kinematic parameters are decided to be optimized. The evaluation indexes about Jacobian’s conditional number are deduced and the optimization model with constraint conditions is constructed. With the optimized kinematic parameters, a graph denotes the Jacobian’s conditional number distributed in the workspace.

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Periodical:

Advanced Materials Research (Volumes 694-697)

Pages:

1722-1728

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.694-697.1722

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Online since:

May 2013

Authors:

Jian Jun Zhang, Xiao Hui Wang, Wei Min Li, Shun Xin Zhang, Shun Cheng Fan

Keywords:

3-DOF Parallel Manipulator, Kinematic Parameters Optimization, Limbs of Embedding Structures

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