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Dimensional Synthesis of a 2-PRS-PRRU Parallel Manipulator

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Mechanism and Machine Science (ASIAN MMS 2016, CCMMS 2016)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 408))

Abstract

This paper deals with the dimensional synthesis of a 2-PRS-PRRU (P, R, S and U standing for actuated prismatic, revolute, spherical and universal joint, respectively) parallel manipulator considering both dexterity and motion/force transmission. First, the inverse kinematic analysis of the parallel robot is presented. Next, the reciprocal of the condition number and the global conditioning index (GCI) based on a dimensionally homogeneous Jacobian matrix are used to evaluate the dexterity. Then, local transmission index (LTI) and good transmission workspace (GTW) are used for evaluation of the motion/force transmissibility of the 2-PRS-PRRU parallel manipulator. Finally, considering the GCI and GTW simultaneously, the parameter-finiteness normalization method is used to produce an optimal design. Both dexterity and motion/force transmission can be improved with the optimized link parameters.

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Acknowledgments

The work is supported by the National Natural Science Foundation of China (NSFC) under Grant 51275479 and 51525004 and Natural Science Foundation of Zhejiang Province under Grant LZ14E050005.

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Authors and Affiliations

  1. Mechatronic Institute, Zhejiang Sci-Tech University, Hangzhou, 310018, Zhejiang Province, People’s Republic of China

    Lingmin Xu, Junhua Tong & Qinchuan Li

  2. School of Information, Zhejiang Sci-Tech University, Hangzhou, 310018, Zhejiang Province, People’s Republic of China

    Qiaohong Chen

Authors
  1. Lingmin Xu
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  2. Qiaohong Chen
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  3. Junhua Tong
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  4. Qinchuan Li
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Corresponding author

Correspondence to Qiaohong Chen .

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Editors and Affiliations

  1. South China University of Technology , Guangzhou, China

    Xianmin Zhang

  2. South China University of Technology , Guangzhou, China

    Nianfeng Wang

  3. South China University of Technology , Guangzhou, China

    Yanjiang Huang

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Xu, L., Chen, Q., Tong, J., Li, Q. (2017). Dimensional Synthesis of a 2-PRS-PRRU Parallel Manipulator. In: Zhang, X., Wang, N., Huang, Y. (eds) Mechanism and Machine Science . ASIAN MMS CCMMS 2016 2016. Lecture Notes in Electrical Engineering, vol 408. Springer, Singapore. https://doi.org/10.1007/978-981-10-2875-5_29

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  • DOI: https://doi.org/10.1007/978-981-10-2875-5_29

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2874-8

  • Online ISBN: 978-981-10-2875-5

  • eBook Packages: EngineeringEngineering (R0)

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