| Optimal kinematic design and application of a redundantly actuated 3DOF planar parallel manipulator | |
| Wu, Jun ; Wang, Jinsong ; Wang, Liping | |
| 2010-05-10 ; 2010-05-10 | |
| 关键词 | MECHANISM ROBOT Engineering, Mechanical |
| 中文摘要 | This paper addresses optimal kinematic design and application of a redundantly actuated parallel manipulator with 3DOFs. Based on the kinematic model, the Jacobian matrix is derived and then transferred to a uniform form such that the conditioning index has explicit physical meaning. Based on the task workspace, the width between two columns is determined Then, a comprehensive performance index, which compromises the conflict between workspace utilization performance measure and conditioning index, is proposed for the optimum design. The parallel manipulator is incorporated into a 4DOF hybrid machine tool, which also includes a feed worktable. Furthermore, a 5DOF machine tool is created by combining the parallel manipulator with a 2DOF worktable to machine blades of gas turbines. |
| 语种 | 英语 ; 英语 |
| 出版者 | ASME-AMER SOC MECHANICAL ENG ; NEW YORK ; THREE PARK AVE, NEW YORK, NY 10016-5990 USA |
| 内容类型 | 期刊论文 |
| 源URL | [http://hdl.handle.net/123456789/24445]  |
| 专题 | 清华大学 |
| 推荐引用方式 GB/T 7714 | Wu, Jun,Wang, Jinsong,Wang, Liping. Optimal kinematic design and application of a redundantly actuated 3DOF planar parallel manipulator[J],2010, 2010. |
| APA | Wu, Jun,Wang, Jinsong,&Wang, Liping.(2010).Optimal kinematic design and application of a redundantly actuated 3DOF planar parallel manipulator.. |
| MLA | Wu, Jun,et al."Optimal kinematic design and application of a redundantly actuated 3DOF planar parallel manipulator".(2010). |
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