Kinematic Analysis and Dimensional Synthesis of 2-PUR-PSR Parallel Manipulator

doi:10.3901/JME.2018.07.045

Abstract

Abstract: The 2-UPR-SPR parallel module of the Exechon manipulator is actuated by inner prismatic pairs, which leads to heavy moving weight and negative effects on stiffness (where U denotes a universal joint, P a prismatic joint, R a revolute joint, and S a spherical joint). A 2-PUR-PSR parallel manipulator with fixed linear actuators is proposed, which has the same degrees of freedom and numbers of joints as the 2-UPR-SPR parallel module. Kinematic analysis and dimensional synthesis of the proposed manipulator are discussed. First, the mobility and inverse kinematic module of the 2-PUR-PSR parallel manipulator are analyzed. Then, based on screw theory, the local transmission index and global transmission workspace are obtained, which can be used to describe the motion/force transmission performance. Finally, the optimal design space is used to conduct dimensional synthesis. The atlases of performance are obtained to determine the optimum region. The 2-PUR-PSR parallel manipulator has great potentials in applications like machining and assembling.

Key words: dimensional synthesis, kinematic analysis, parallel manipulator, performance evaluation

CLC Number:

TG156

ZHANG Weizhong, XU Lingmin, TONG Junhua, LI Qinchuan. Kinematic Analysis and Dimensional Synthesis of 2-PUR-PSR Parallel Manipulator[J]. Journal of Mechanical Engineering, 2018, 54(7): 45-53.

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