Kinematically Identical Manipulators for an Asymmetric 3-PRS Parallel Manipulator and Their Constraint Performance Comparison Study

doi:10.3901/JME.2020.03.031

Abstract

Abstract: Some limited-dof parallel manipulators (PMs) with different architectures have identical kinematics and different performances are called kinematically identical manipulators (KIMs). Selecting the PMs with good performances in KIMs is a significant work. Based on the principle of deriving KIMs, three non-overconstrained and three overconstrained KIMs of the asymmetric 3-PRS PM are derived. According to motion/force transmission indices, the optimal design of the PMs is performed and the optimal area is obtained. Based on the property that the asymmetric 3-PRS PM and its KIMs have identical kinematics but different constraints, the constraint indices of KIMs are established and the performance atlases of constraint performance are drawn under the optimal parameters. Global constraint indices (GCI) of the PMs are solved and the constraint performance is compared among them. Optimal selection considering both transmission and constraint performance for the asymmetric 3-PRS PM and its KIMs is realized.

Key words: parallel manipulator, kinematically identical, transmission performance, constraint performance, select configuration

CLC Number:

TG156

HU Bo, SHI Dongsheng, SHI Yanguo, ZHANG Da, YE Nijia. Kinematically Identical Manipulators for an Asymmetric 3-PRS Parallel Manipulator and Their Constraint Performance Comparison Study[J]. Journal of Mechanical Engineering, 2020, 56(3): 31-40.

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