TYPE SYNTHESIS AND DESIGN OF A NOVEL 3-DOF REDUCIBLE TRANSLATIONAL PARALLEL MANIPULATOR

Abstract

Abstract: The definition of general reducible system is proposed. The relationship between the inputs and outputs of the 3-DOF translational parallel manipulator with independent motions is investigated. The definition of the 3-DOF reducible translational parallel mechanism is presented. Further more, the satisfying and necessary conditions for the judgment of this kind of mechanisms is given. A new Gf coordinates is defined for the type synthesis of the reducible parallel mechanisms. And five such mechanisms are presented. Taking one of them as example, a new optimization design method based on the workspace of the moving platform is also presented.

Key words: Grcoordinates, Optimization design, Reducible mechanisms, Type synthesis

CLC Number:

TP24

Zhang Yong;Gao Feng. TYPE SYNTHESIS AND DESIGN OF A NOVEL 3-DOF REDUCIBLE TRANSLATIONAL PARALLEL MANIPULATOR[J]. , 2005, 41(8): 84-89.

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TYPE SYNTHESIS AND DESIGN OF A NOVEL 3-DOF REDUCIBLE TRANSLATIONAL PARALLEL MANIPULATOR

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