| DIMENSIONAL DESIGN THEORY AND METHODOLOGY OF 6-DOF SCISSOR PARALLEL MANIPULATOR |
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| 作者姓名： | Tang Xiaoqiang Li Tiemin Wang Jinsong |
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| 作者单位： | Tang Xiaoqiang Li Tiemin
Wang Jinsong
Department of Precision Instruments，Tsinghua University，Beijing 100084，China |
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| 基金项目： | This project is supported by National Natural Science Foundation of China(No.50305016)，State High Technology Development Program of China(No.2002AA421180) |
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| 摘 要： | Parallel manipulators have many advantages over serial manipulators in terms of high load/weight ratio, velocity, stiffness and precision. A dimensional design theory and methodology of six degrees of freedom scissor parallel manipulator (SPM) is investigated. The SPM kinematics inverse equation is given. Based on the formulation of the local dexterity and the definition about the indexes of workspace incircle radius, the effects of the design parameters on the dexterity and workspace are discussed. Moreover the incircle radius change ratio about workspace are defined and used as the evaluated indicator to analyze the effects of the design parameters on the performances. A dimensional design theory that could satisfy the requirement of dexterity and workspace is proposed. The dimensional design theory and methodology can be of help in the design, trajectory planning and control of parallel manipulator.
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| 关 键 词： | 6-DOF 并联机构 空间设计理论 设计方法 SPM |
DIMENSIONAL DESIGN THEORY AND METHODOLOGY OF 6-DOF SCISSOR PARALLEL MANIPULATOR |
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| Tang Xiaoqiang Li Tiemin,Wang Jinsong.DIMENSIONAL DESIGN THEORY AND METHODOLOGY OF 6-DOF SCISSOR PARALLEL MANIPULATOR[J].Chinese Journal of Mechanical Engineering,2004,17(1):6-10. |
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| Authors: | TangXiaoqiang LiTiemin WangJinsong |
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| Affiliation: | DepartmentofPrecisionInstruments,TsinghuaUniversity,Beijing100084,China |
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| Abstract: | Parallel manipulators have many advantages over serial manipulators in terms of high load/weight ratio, velocity, stiffness and precision. A dimensional design theory and methodology of six degrees of freedom scissor parallel manipulator (SPM) is investigated. The SPM kinematics inverse equation is given. Based on the formulation of the local dexterity and the definition about the indexes of workspace incircle radius, the effects of the design parameters on the dexterity and workspace are discussed. Moreover the incircle radius change ratio about workspace are defined and used as the evaluated indicator to analyze the effects of the design parameters on the performances. A dimensional design theory that could satisfy the requirement of dexterity and workspace is proposed. The dimensional design theory and methodology can be of help in the design, trajectory planning and control of parallel manipulator. |
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| Keywords: | Dimension Design theory Parallel manipulator |
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