Skip to main content

2014 | OriginalPaper | Buchkapitel

8. Dimensional Synthesis of Parallel Mechanisms

verfasst von : Xin-Jun Liu, Jinsong Wang

Erschienen in: Parallel Kinematics

Verlag: Springer Berlin Heidelberg

Aktivieren Sie unsere intelligente Suche um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

This chapter presents a general geometric-based methodology for dimensional synthesis and optimal design of parallel mechanisms. The proposed method is different from those frequently used methods implemented by establishing the objective functions with specified constraints and then searching for the result using an optimization algorithm; it is indeed a geometrical method by aid of performance charts or atlas, which is highly useful in illustrating the relationship between a performance index provided in Chap.​ 7 and the design parameters involved in a visual way. The proposed method is illustrated by several parallel mechanisms including a planar 5R parallel mechanism and several 3-DOF spatial parallel mechanisms.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Literatur
Zurück zum Zitat Angeles J (1995) Kinematic isotropy in humans and machines. In: Proceedings of IFToMM 9th world congress on theory of machines and mechanisms, Edizioni Unicopli, Milano, pp XLII–XLIX Angeles J (1995) Kinematic isotropy in humans and machines. In: Proceedings of IFToMM 9th world congress on theory of machines and mechanisms, Edizioni Unicopli, Milano, pp XLII–XLIX
Zurück zum Zitat Bruyninckx H (1997) The 321-HEXA: a fully-parallel manipulator with closed-form position and velocity kinematics. In: Proceedings of IEEE international conference on robotics and automation, Albuquerque, New Mexico, USA, IEEE press, Piscataway, N.J., pp 2657–2662 Bruyninckx H (1997) The 321-HEXA: a fully-parallel manipulator with closed-form position and velocity kinematics. In: Proceedings of IEEE international conference on robotics and automation, Albuquerque, New Mexico, USA, IEEE press, Piscataway, N.J., pp 2657–2662
Zurück zum Zitat Chablat D, Wenger P (2003) Architecture optimization of a 3-DOF parallel mechanism for machining applications: the Orthoglide. IEEE Trans Robot Autom 19(3):403–410CrossRef Chablat D, Wenger P (2003) Architecture optimization of a 3-DOF parallel mechanism for machining applications: the Orthoglide. IEEE Trans Robot Autom 19(3):403–410CrossRef
Zurück zum Zitat Gao F, Zhang X, Zhao Y, Wang H (1996) A physical model of the solution space and the atlases of the reachable workspaces for 2-DOF parallel plane wrists. Mech Mach Theory 31(2):173–184CrossRef Gao F, Zhang X, Zhao Y, Wang H (1996) A physical model of the solution space and the atlases of the reachable workspaces for 2-DOF parallel plane wrists. Mech Mach Theory 31(2):173–184CrossRef
Zurück zum Zitat Hunt KH (1983) Structure kinematics of in parallel actuated robot arms. J Mech Trans Autom Des 105:705–712CrossRef Hunt KH (1983) Structure kinematics of in parallel actuated robot arms. J Mech Trans Autom Des 105:705–712CrossRef
Zurück zum Zitat Liu X-J, Wang J, Gao F, Wang L-P (2002) The mechanism design of a simplified 6-DOF 6-RUS parallel manipulator. Robotica 20(1):81–91CrossRef Liu X-J, Wang J, Gao F, Wang L-P (2002) The mechanism design of a simplified 6-DOF 6-RUS parallel manipulator. Robotica 20(1):81–91CrossRef
Zurück zum Zitat Liu X-J, Wang J, Pritschow G (2005) A new family of spatial 3-DOF fully-parallel manipulators with high rotational capability. Mech Mach Theory 40(4):475–494MathSciNetMATHCrossRef Liu X-J, Wang J, Pritschow G (2005) A new family of spatial 3-DOF fully-parallel manipulators with high rotational capability. Mech Mach Theory 40(4):475–494MathSciNetMATHCrossRef
Zurück zum Zitat Ma O, Angeles J (1991) Optimum architecture design of platform manipulators. In: Proceedings of the fifth international conference on advanced robotics, Pisa, IEEE press, Piscataway, N.J., pp 1130–1135 Ma O, Angeles J (1991) Optimum architecture design of platform manipulators. In: Proceedings of the fifth international conference on advanced robotics, Pisa, IEEE press, Piscataway, N.J., pp 1130–1135
Zurück zum Zitat Ottaviano E, Ceccarelli M (2002) Optimal design of CaPaMan (Cassino Parallel Manipulator) with a specified orientation workspace. Robotica 20:159–166CrossRef Ottaviano E, Ceccarelli M (2002) Optimal design of CaPaMan (Cassino Parallel Manipulator) with a specified orientation workspace. Robotica 20:159–166CrossRef
Zurück zum Zitat Pierrot F, Dauchez P, Fournier A (1991) Towards a fully-parallel 6 d.o.f. robot for high speed applications. In: Proceedings of IEEE international conference on robotics & automation, Sacramento, CA, IEEE press, Piscataway, N.J., pp 1288–1293 Pierrot F, Dauchez P, Fournier A (1991) Towards a fully-parallel 6 d.o.f. robot for high speed applications. In: Proceedings of IEEE international conference on robotics & automation, Sacramento, CA, IEEE press, Piscataway, N.J., pp 1288–1293
Zurück zum Zitat Ryu J, Cha J (2003) Volumetric error analysis and architecture optimization for accuracy of HexaSlide type parallel manipulators. Mech Mach Theory 38:227–240MATHCrossRef Ryu J, Cha J (2003) Volumetric error analysis and architecture optimization for accuracy of HexaSlide type parallel manipulators. Mech Mach Theory 38:227–240MATHCrossRef
Zurück zum Zitat Sorli M, Ferraresi C, Kolarski M et al (1997) Mechanics of TURIN parallel robot. Mech Mach Theory 32(1):51–57MATHCrossRef Sorli M, Ferraresi C, Kolarski M et al (1997) Mechanics of TURIN parallel robot. Mech Mach Theory 32(1):51–57MATHCrossRef
Zurück zum Zitat Stock M, Miller K (2004) Optimal kinematic design of spatial parallel manipulators: application to linear Tsai’s robot. J Mech Des 125:292–301CrossRef Stock M, Miller K (2004) Optimal kinematic design of spatial parallel manipulators: application to linear Tsai’s robot. J Mech Des 125:292–301CrossRef
Zurück zum Zitat Tandirci M, Angeles J, Ranjbaran F (1992) The characteristic point and characteristic length of robotic manipulators. In: Proceedings of ASME 22nd biennial conference on robotics, spatial mechanisms and mechanical systems, Scottsdale, AZ, ASME press, New York pp 203–208 Tandirci M, Angeles J, Ranjbaran F (1992) The characteristic point and characteristic length of robotic manipulators. In: Proceedings of ASME 22nd biennial conference on robotics, spatial mechanisms and mechanical systems, Scottsdale, AZ, ASME press, New York pp 203–208
Zurück zum Zitat Yang J-H (1987) The space model and dimensional types of the four-bar mechanisms. Mech Mach Theory 22(1):71–76CrossRef Yang J-H (1987) The space model and dimensional types of the four-bar mechanisms. Mech Mach Theory 22(1):71–76CrossRef
Metadaten
Titel
Dimensional Synthesis of Parallel Mechanisms
verfasst von
Xin-Jun Liu
Jinsong Wang
Copyright-Jahr
2014
Verlag
Springer Berlin Heidelberg
DOI
https://doi.org/10.1007/978-3-642-36929-2_8

    Marktübersichten

    Die im Laufe eines Jahres in der „adhäsion“ veröffentlichten Marktübersichten helfen Anwendern verschiedenster Branchen, sich einen gezielten Überblick über Lieferantenangebote zu verschaffen.