Optimal design of a new spatial 3-DOF parallel robot with respect to a frame-free index  

作　　者：JinSong Wang  XinJun Liu Chao Wu 

机构地区：[1] Department of Precision Instruments, Tsinghua University, Beijing, 100084, China

出　　处：《Science China(Technological Sciences)》2009年第4期986-999,共14页中国科学（技术科学英文版）

基　　金：Supported by the National Natural Science Foundation of China (Grant No. 50775118);High Technology Research and Development Program of China (863 Program) (Grant No. 2006AA04Z227);National Basic Research Program of China (973 Program) (Grant No. 2007CB714000)

摘　　要：Optimal design is one of the most important issues in robots. Since the very beginning, the concepts of the Jacobian matrix, manipulability and condition number, which are used successfully in the field of serial robots, have been applied to parallel robots. Unlike serial robots, parallel robots are good for motion/force transmission. Their performance evaluation and design should be correspondingly dif- ferent. This paper is an attempt to optimally design a novel spatial three-degree-of-freedom (3-DOF) parallel robot by using the concept of motion/force transmission. Accordingly, three indices are defined. The suggested indices are independent of any coordinate frame and could be applied to the analysis and design of a parallel robot whose singularities can be identified wholly by using the relative angle between the output and adjacent links, and by using the relative angle between the input and adjacent links.Optimal design is one of the most important issues in robots. Since the very beginning, the concepts of the Jacobian matrix, manipulability and condition number, which are used successfully in the field of serial robots, have been applied to parallel robots. Unlike serial robots, parallel robots are good for motion/force transmission. Their performance evaluation and design should be correspondingly different. This paper is an attempt to optimally design a novel spatial three-degree-of-freedom (3-DOF) parallel robot by using the concept of motion/force transmission. Accordingly, three indices are defined. The suggested indices are independent of any coordinate frame and could be applied to the analysis and design of a parallel robot whose singularities can be identified wholly by using the relative angle between the output and adjacent links, and by using the relative angle between the input and adjacent links.

关 键 词：optimal design parallel ROBOTS INDEX TRANSMISSION ANGLE motion/force TRANSMISSION 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]