Redundantly actuated parallel manipulators (RAPMs) receive growing interest due to their enlarged dexterous workspace, higher stiffness and improved force distribution. The results of dimensional synthesis have an important influence on the comprehensive performance of RAPMs. Usually, dexterity index is one of the performance indices, which should be took into consideration. The dexterity index is based on the algebraic characteristics of the Jacobian matrix. However, for an RAPM with combined motilities of rotation and translation, its Jacobian matrix has inconsistent element units and un-clear physical meaning. This paper establishes a set of dexterity indices based on the dimensionally homogeneous Jacobian (DHJ) matrix of a 2UPR-2RPS RAPM for dimensional synthesis. Firstly, a local dexterity index is established to evaluate the dexterity of the 2UPR-2RPS RAPM at a certain posture. Meanwhile, a global dexterity index is determined in accordance with the local dexterity index. Secondly, a dimensional design method based on the parameter-finiteness normalization method (PFNM) is proposed to optimize the dimensional parameters of the 2UPR-2RPS RAPM. Finally, a set of dimensional parameters is optimized and a laboratory prototype of the 2UPR-2RPS RAPM is fabricated.
Dimensional Synthesis of a Novel Redundantly Actuated Parallel Manipulator
Lect.Notes Computer
International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023
21.10.2023
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Redundantly Actuated Parallel Manipulators , Dimensional Synthesis , Dexterity Computer Science , Artificial Intelligence , Software Engineering/Programming and Operating Systems , Computer Applications , Computer Communication Networks , Special Purpose and Application-Based Systems , User Interfaces and Human Computer Interaction
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