Volume 32 Issue 07
Jul.  2006
Turn off MathJax
Article Contents
Bai Zhifu, Han Xianguo, Chen Wuyiet al. Optimal design of parallel mechanisms with large tilting ability based on redundant actuation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2006, 32(07): 856-859. (in Chinese)
Citation: Bai Zhifu, Han Xianguo, Chen Wuyiet al. Optimal design of parallel mechanisms with large tilting ability based on redundant actuation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2006, 32(07): 856-859. (in Chinese)

Optimal design of parallel mechanisms with large tilting ability based on redundant actuation

  • Received Date: 19 Jun 2005
  • Publish Date: 31 Jul 2006
  • Orientation space of parallel mechanisms was analyzed. Physical constraints and singular constraints are the two main reasons which restrict the orientation ability of parallel mechanisms. The corresponding solutions from the two aspects were presented. New joints and redundant active UPS(universal prismatic spherical) link were used to enlarge the orientation space of a 3PRS(prismatic revolve spherical) parallel mechanism. The detailed design process of this mechanism with 90° tilting ability was carried out. Genetic algorithm was used to optimize the gross dexterity of the mechanism. Computer simulation showed the effectiveness of these results, which provided references for the wide application of parallel mechanisms.

     

  • loading
  • [1] Kim J, Hwang J C, Kim J S, et al. Eclipse-II:a new parallel mechanism enabling continuous 360 degree spinning plus three axis translational motions Proceedings of the 2000 IEEE International Conference on Robotics and Automation. Seoul:IEEE Robotics and Automation Society, 2001:3274-3279 [2] Marquet F, Krut S, Company O, et al. ARCHI:a new redundant parallel mechanism-modeling, control and first results Proceeding of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Hawall:IEEE,2001(1):183-188 [3] Kim J, Park F, Ryu S, et al. Design and analysis of a redundantly actuated parallel mechanism for rapid machining[J]. IEEE Transactions on Robotics and Automation, 2001, 17(4):423-434 [4] Honegger M, Codourey A, Burdet E. Adaptive control of the hexaglide, a 6 dof parallel manipulator Proceedings of the 1997 IEEE International Conference on Robotics and Automation. Albuquerque:IEEE Robotics and Automation Society, 1997:543-548 [5] 郭祖华.并联数控刀具磨床的动力学优化设计 .北京:北京航空航天大学机械工程及自动化学院, 2001 Guo Zuhua. Dynamics optimization design on parallel CNC cutter grinding machine tool . Beijing:School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, 2001(in Chinese) [6] 高峰, 黄玉美, 樊泽民, 等. 一种六轴混合驱动数控机床的方案设计[J]. 西安理工大学学报, 2000,16(4):335-338 Gao Feng, Huang Yumei, Fan Zemin, et al. The design of a new type of 6-axis hybrid driving NC machine tool[J]. Jounal of Xi′an University of Technology, 2000,16(4):335-338(in Chinese) [7] 白志富, 韩先国, 陈五一. 冗余驱动消除并联机构奇异研究[J]. 航空学报, 2006,27(4):733-736 Bai Zhifu, Han Xianguo, Chen Wuyi. Study on elimination singularities of parallel mechanism by actuation redundancy[J]. Acta Aeronautica et Astronautica Sinica, 2006,27(4):733-736(in Chinese) [8] 杨晓钧, 王知行, 钟诗胜. 基于工作空间和灵活性的并联机床结构参数优化设计[J]. 机械与电子, 2004,2:14-17 Yang Xiaojun, Wang Zhixing, Zhong Shisheng. Parameter optimal design of parallel machine tool for workspace and dexterity[J]. Machinery & Electronics, 2004, 2:14-17(in Chinese)
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(3269) PDF downloads(884) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return