Analysis on Kinematic Performance Index of 3-PRS Parallel Mechanism

2017 ◽  
Author(s):  
Fuwei Sun ◽  
Junwei Zhao ◽  
Guoqiang Chen
Keyword(s):  
Performance Index ◽  
Parallel Mechanism ◽  
Kinematic Performance

Evaluation of the Kinematic Performance of a 3-RRS Parallel Mechanism

Robotica ◽  
2020 ◽  
pp. 1-12
Author(s):  
Manxin Wang ◽  
Qiusheng Chen ◽  
Haitao Liu ◽  
Tian Huang ◽  
Hutian Feng ◽  
...  
Keyword(s):  
Standard Deviation ◽  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Mean Value ◽  
Spherical Joint ◽  
Performance Indices ◽  
Active Joint ◽  
Strongly Coupled ◽  
The Mean ◽  
Kinematic Performance

SUMMARY This paper proposes a set of novel indices for evaluating the kinematic performance of a 3-RRS (R and S denote revolute and spherical joint respectively, R denotes active joint.), parallel mechanism whose translational and rotational movements are strongly coupled. First, the indices are formulated using the decoupled overall Jacobian matrix, which is developed using coordinate transformation. Then, the influences of the homogeneous dimensionless parameters on these indices are investigated. In addition, the dimension synthesis of the 3-RRS parallel mechanism is carried out by minimizing the mean value of the kinematic performance indices and their standard deviation. The results demonstrate that the established approach facilitates good global kinematic performance of the parallel mechanism.

Kinematic performance analysis of a parallel mechanism for loading test of hydraulic support

2022 ◽  
Vol 168 ◽  
pp. 104592
Author(s):  
Siyang Peng ◽  
Zhihong Cheng ◽  
Linxian Che ◽  
Yuwei Zheng ◽  
Shuang Cao
Keyword(s):  
Performance Analysis ◽  
Parallel Mechanism ◽  
Loading Test ◽  
Hydraulic Support ◽  
Kinematic Performance

scholarly journals Singularity analysis and dexterity performance on a novel parallel mechanism with kinematic redundancy

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987264 ◽  
Author(s):  
Fuqun Zhao ◽  
Sheng Guo ◽  
Chengyu Zhang ◽  
Haibo Qu ◽  
Dian Li
Keyword(s):  
Parallel Mechanism ◽  
Large Range ◽  
Kinematic Model ◽  
Design Strategy ◽  
Singularity Analysis ◽  
Kinematic Redundancy ◽  
Spatial Parallel Mechanism ◽  
Virtual Plane ◽  
Kinematic Performance ◽  
Redundant Mechanism

This article presents a novel spatial parallel mechanism with kinematic redundancy. The design strategy and evolution of the proposed mechanism is introduced, and kinematic model of the mechanism is established. To simplify singularity analysis of this kind of mechanism, the virtual plane method which can separate the whole parallel mechanism into two parts is presented. The relative Jacobian matrices are established and illustrated with singularity configurations of three types. Kinematic performance is obtained to see redundancy effects on the mechanism. The orientational workspace is obtained by the regions of orientational angles with varied platform position. It shows the orientational workspace of the redundant mechanism is significantly larger. Evaluation of condition number demonstrates the proposed mechanism can clearly stay away from singularities with a large range of rotational angles. A trajectory example is conducted to further prove the proposed mechanism can produce a large range of rotational angles without meeting with singularities.

Dimensional Synthesis of a 2UPS-UPR Parallel Machine Tool

2009 ◽  
Vol 16-19 ◽  
pp. 554-558
Author(s):  
Liang Zhao ◽  
Ya Dong Gong ◽  
Jian Ye Guo ◽  
Guang Qi Cai
Keyword(s):  
Condition Number ◽  
Performance Index ◽  
Machine Tools ◽  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Structural Parameters ◽  
Parallel Machine ◽  
Dimensional Synthesis ◽  
Parallel Machine Tools ◽  
Parallel Machine Tool

This paper deals with the dimensional synthesis of a 2UPS-UPR parallel mechanism tool newly designed by Northeastern University. On the basis of establishing kinematics equations and obtaining Jacobian matrix, the performance index of dimensional synthesis is given which is the average of 729 values of the condition number of Jacobian matrix corresponding to 729 positions in the workspace. With MATLAB software, the effects are simulated which the structural parameters of parallel machine tools have on dimensional synthesis, their change laws are gained, and then dimensional synthesis of parallel machine tools is conducted based on these laws.

Parameter Optimization Design of a Novel Robot Shoulder Based on the Workspace

2013 ◽  
Vol 749 ◽  
pp. 561-565
Author(s):  
Bing Yan Cui ◽  
Zhen Lin Jin
Keyword(s):  
Shoulder Joint ◽  
Parallel Mechanism ◽  
Optimization Design ◽  
Structural Parameters ◽  
Connecting Rod ◽  
Spherical Parallel Mechanism ◽  
Kinematic Performance ◽  
Joint Mechanism ◽  
Parameter Optimization Design ◽  
Mechanical Constraint

A robot shoulder joint should have good kinematic performance and workspace, but the structural parameters of shoulder joint directly affect the workspace. In order to increase the workspace of shoulder joint, a novel robot shoulder joint based on 3-DOF orthogonal spherical parallel mechanism is proposed. This paper studied the influence on its workspace affected by the variation of structural parameters of the connecting rod, frame connecting rod, rod diameter of this shoulder joint mechanism. Based on the consideration of mechanical constraint, the objective function of the optimal structural parameters of the shoulder joint is established. Having the maximum the workspace, the structural parameters of shoulder joint are gained.

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