TY - JOUR
T1 - A parametric model of 3-PPR planar parallel manipulators for optimum shape design of platforms
AU - Wu, Xiaoyong
AU - Xie, Zhijiang
AU - Kepler, Jørgen Asbøll
AU - Bai, Shaoping
PY - 2017/12/1
Y1 - 2017/12/1
N2 - This work presents a parametric model of 3-PPR1 P and R represent prismatic and revolute joints, and an underline letter indicates an actuated joint planar parallel manipulators, aiming to optimize shape design of the base and mobile platforms. The kinematic model is established with shape parameters and motion variables. With the model, the inverse and forward position analyses are carried out, upon which the dexterity performance in terms of conditioning index is evaluated and analyzed. The analysis of global dexterity reveals a number of platform shapes, which lead to singularity in all configurations and must be avoided in design. Further performance evaluation in terms of transmission quality is also presented. Finally, two optimal configurations for the considered manipulators are obtained from the numerical simulation results. A case study is included to demonstrate the dynamics performance with an optimal platform shape design.
AB - This work presents a parametric model of 3-PPR1 P and R represent prismatic and revolute joints, and an underline letter indicates an actuated joint planar parallel manipulators, aiming to optimize shape design of the base and mobile platforms. The kinematic model is established with shape parameters and motion variables. With the model, the inverse and forward position analyses are carried out, upon which the dexterity performance in terms of conditioning index is evaluated and analyzed. The analysis of global dexterity reveals a number of platform shapes, which lead to singularity in all configurations and must be avoided in design. Further performance evaluation in terms of transmission quality is also presented. Finally, two optimal configurations for the considered manipulators are obtained from the numerical simulation results. A case study is included to demonstrate the dynamics performance with an optimal platform shape design.
KW - Dexterity
KW - Motion/force transmission quality
KW - Optimum shape design
KW - Planar parallel manipulator
KW - Shape singularity
UR - http://www.scopus.com/inward/record.url?scp=85027488816&partnerID=8YFLogxK
U2 - 10.1016/j.mechmachtheory.2017.08.002
DO - 10.1016/j.mechmachtheory.2017.08.002
M3 - Journal article
AN - SCOPUS:85027488816
SN - 0094-114X
VL - 118
SP - 139
EP - 153
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
ER -