Dimensional synthesis of a 3-DOF parallel manipulator based on dimensionally homogeneous Jacobian matrix  

作　　者：SUN Tao1,SONG YiMin1,LI YongGang2 & LIU LinShan1 1 School of Mechanical Engineering,Tianjin University,Tianjin 300072,China 2 School of Mechanical Engineering,Tianjin University of Technology and Education,Tianjin 300222,China 

出　　处：《Science China(Technological Sciences)》2010年第1期168-174,共7页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China (Grant Nos.50535010, 50675151);National High-Tech Research and Development Program of China (Grant No.2007AA042001);Ph.D. Programs Foundation of Ministry of Education of China (Grant No.20060056018)

摘　　要：A study of dimensional synthesis of a 3-DOF parallel manipulator with coupling of translation and rotation is carried out.The architecture of the manipulator is composed of a moving platform attached to a fixed base through three identical PRS(prismatic-revolute-spherical) serial limbs,whose unique topology leads to the physical unit inconsistency of the conventional Jacobian matrix and the emergence of the parasitic motion.Then this paper introduces a kinetostatic performance index of the manipulator based on the condition of a dimensionally homogeneous Jacobian matrix,later,the workspace of the aforementioned manipulator is searched and the influence of the crucial design variables on the workspace is analyzed.Finally,a dimensional synthesis method of the manipulator is proposed,which may be regarded as a nonlinear programming problem with subject to the parasitic motion and other several engineering constraints.A study of dimensional synthesis of a 3-DOF parallel manipulator with coupling of translation and rotation is carried out.The architecture of the manipulator is composed of a moving platform attached to a fixed base through three identical PRS(prismatic-revolute-spherical) serial limbs,whose unique topology leads to the physical unit inconsistency of the conventional Jacobian matrix and the emergence of the parasitic motion.Then this paper introduces a kinetostatic performance index of the manipulator based on the condition of a dimensionally homogeneous Jacobian matrix,later,the workspace of the aforementioned manipulator is searched and the influence of the crucial design variables on the workspace is analyzed.Finally,a dimensional synthesis method of the manipulator is proposed,which may be regarded as a nonlinear programming problem with subject to the parasitic motion and other several engineering constraints.

关 键 词：PKMs(parallel kinematic machines) DIMENSIONAL synthesis dimensionally HOMOGENEOUS JACOBIAN 3-PRS manipulator workspace 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]