TY - GEN
T1 - Analysis and optimal design of a spherical parallel manipulator with three rotational degrees of freedom
AU - Li, Bing
AU - Chen, Shucan
AU - Zhang, Dan
PY - 2013
Y1 - 2013
N2 - Spherical parallel manipulators with three rotational degrees of freedom have been widely researched for a long time, and many mechanisms have been proposed and designed for some specific tasks. In this paper, the concept design of a spherical parallel manipulator with three rotational degrees of freedom is presented. The optimal design of this type of parallel mechanism with a 3SPU-1S kinematic chain is detailed which can act as a haptic device, and the purpose of the optimal design is to find a set of parameters that achieve a relatively good performance in terms of three important indexes, that is, to define the tradeoff among the workspace capabilities, dexterity and stiffness. First, the inverse kinematic equations and Jacobian matrix of the spherical parallel manipulator are formulated, which is the necessary for subsequent analysis. Then, three important performance is analyzed. Finally, the dimensional synthesis based on a compound performance index is introduced and simulation results are obtained.
AB - Spherical parallel manipulators with three rotational degrees of freedom have been widely researched for a long time, and many mechanisms have been proposed and designed for some specific tasks. In this paper, the concept design of a spherical parallel manipulator with three rotational degrees of freedom is presented. The optimal design of this type of parallel mechanism with a 3SPU-1S kinematic chain is detailed which can act as a haptic device, and the purpose of the optimal design is to find a set of parameters that achieve a relatively good performance in terms of three important indexes, that is, to define the tradeoff among the workspace capabilities, dexterity and stiffness. First, the inverse kinematic equations and Jacobian matrix of the spherical parallel manipulator are formulated, which is the necessary for subsequent analysis. Then, three important performance is analyzed. Finally, the dimensional synthesis based on a compound performance index is introduced and simulation results are obtained.
KW - Optimal design
KW - Performance indexes
KW - Spherical parallel manipulator
UR - http://www.scopus.com/inward/record.url?scp=84888415389&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-39223-8_7
DO - 10.1007/978-3-642-39223-8_7
M3 - Conference article published in proceeding or book
AN - SCOPUS:84888415389
SN - 9783642392221
T3 - Communications in Computer and Information Science
SP - 71
EP - 81
BT - Robotics in Smart Manufacturing - International Workshop, WRSM 2013 Co-located with FAIM 2013, Proceedings
PB - Springer Verlag
T2 - International Workshop on Robotics in Smart Manufacturing, WRSM 2013
Y2 - 26 June 2013 through 28 June 2013
ER -