Performance Analysis and Comparison of Planar 3-DOF Parallel Manipulators with One and Two Additional Branches

被引：50
|
作者：
Wu, Jun [1 ,2 ,3 ]
Li, Tiemin [1 ,2 ,3 ]
Wang, Jinsong [1 ,2 ,3 ]
Wang, Liping [1 ,2 ,3 ]
机构：
[1] Tsinghua Univ, Dept Mech Engn, State Key Lab Tribol, Beijing 100084, Peoples R China
[2] Tsinghua Univ, Dept Mech Engn, Inst Mfg Engn, Beijing 100084, Peoples R China
[3] Beijing Key Lab Precis Ultra Precis Mfg Equipment, Beijing 100084, Peoples R China
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2013年 / 72卷 / 01期
关键词：
Velocity; Stiffness; Parallel manipulator; Actuation redundancy; Optimum performance region; OPTIMUM DESIGN; 3-RRR; 2-RRR;
D O I：
10.1007/s10846-013-9824-8
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper constructs a symmetrical 3-DOF parallel manipulator with one and two additional branches, respectively. The conditioning, stiffness, velocity and payload indices are developed to compare the performance of the two parallel manipulators, one with one additional branch, and the other with two additional branches. The optimum performance region with desirable performance is investigated. The simulations show that the redundant manipulator with one additional branch has a larger optimum performance region with the given conditioning, velocity, payload and stiffness performance. The results are not only important for designers to design the 3-DOF parallel manipulator, but also helpful for researchers to determine how many additional branches are added to develop a redundant parallel manipulator.
引用
收藏
页码：73 / 82
页数：10
相关论文
共 50 条
  • [21] Stiffness performance analysis and optimization of 3-DOF parallel manipulators based on kinetostatic model
    Wei, Bin
    WORLD JOURNAL OF ENGINEERING, 2013, 10 (01) : 85 - 94
  • [22] Analysis on Velocity Performance of Planar 3-DOF Parallel Manipulator with Actuation Redundancy
    Wang, Bing
    Wei, Zhihui
    ADVANCED MECHANICAL DESIGN, PTS 1-3, 2012, 479-481 : 2327 - 2332
  • [23] TYPE SYNTHESIS OF 3-DOF PARALLEL MANIPULATORS WITH BOTH PLANAR AND TRANSLATIONAL OPERATION MODES
    Kong, Xianwen
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE - 2011, VOL 6, PTS A AND B, 2012, : 1059 - 1067
  • [24] Two-Loop Control of Redundant Manipulators: Analysis and Experiments on a 3-DOF Planar Arm
    Soto, Israel
    Campa, Ricardo
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2013, 10
  • [25] Managing singularities of 3-DOF planar parallel manipulators using joint-coupling
    Theingi
    Chen, IM
    Li, C
    Angeles, J
    ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS, 2004, : 1966 - 1970
  • [26] Manipulation by juggling of planar polygonal objects using two 3-DOF manipulators
    Akbarimajd, Adel
    Ahmadabadi, Majid Nili
    2007 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 2007, : 919 - 924
  • [27] Position analysis of a new family of 3-dof translational parallel manipulators
    Carricato, M
    Parenti-Castelli, V
    JOURNAL OF MECHANICAL DESIGN, 2003, 125 (02) : 316 - 322
  • [28] Kinematics and statics analysis of a 3-DOF planar parallel mechanism
    Faculty of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an, 710048, China
    Int. Conf. E-Prod. E-Serv. E-Entertain., ICEEE, 2010,
  • [29] Stiffness Model of a 3-DOF Parallel Manipulator with Two Additional Legs
    Yu, Guang
    Wu, Jun
    Wang, Liping
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2014, 11
  • [30] Performance comparison of three planar 3-DOF parallel manipulators with 4-RRR, 3-RRR and 2-RRR structures
    Wu, Jun
    Wang, Jinsong
    Wang, Liping
    You, Zheng
    MECHATRONICS, 2010, 20 (04) : 510 - 517
12345