Abstract

In this work, a parameterized model of 3-RRR planar parallel manipulator is proposed, aiming to optimize the overall performance with optimum shapes and sizes of the base and mobile platforms. In the model, the inverse and direct kinematics are addressed, upon which the global kinematic performance in terms of dexterity index is calculated and analyzed. A shape and dimensional optimization is accomplished through the atlas-based method. Optimum configurations are obtained from the global performance atlases. Moreover, sensitivity analysis of overall kinematic performance with respect to each configuration parameter of planar 3-RRR parallel manipulator is performed to reveal the influences of the design parameters. A case study is included to present a more detailed design of 3-RRR manipulator.

摘要

在这项工作中，提出了一种 3 -R RR 平面并联机械手的参数化模型，旨在通过优化底座和移动平台的形状和尺寸来优化整体性能。在该模型中，解决了逆运动学和正运动学问题，在此基础上计算和分析了灵活性指数方面的全局运动学性能。通过基于图集的方法完成形状和尺寸优化。从全局性能图谱中获得最佳配置。此外，针对平面 3 -R RR 并联机械臂的每个配置参数进行整体运动学性能的敏感性分析，以揭示设计参数的影响。包括一个案例研究，以展示更详细的 3-R RR 机械手。