Optimal reduction ratio selection for the driving system of a novel high-speed parallel manipulator

The reduction ratio of the driving system plays a very important role in the accelerating and decelerating capacity for a parallel manipulator. In this paper, the virtual work principle was employed to develop the inverse dynamics model of a novel high-speed parallel manipulator. A new S-curve speed profile was introduced and adopted to plan the trajectory of the end-effecter of the manipulator in the operation space. Aiming at the minimal operation time, a reduction ratio optimal selection method of the driving system was presented, which can make full use of the advantages of the AC servomotor and consequently reduce the cost of the manipulator.