Type Synthesis, Kinematic Analysis, and Optimal Design of a Novel Class of Schönflies-Motion Parallel Manipulators
Type Synthesis, Kinematic Analysis, and Optimal Design of a Novel Class of Schönflies-Motion Parallel Manipulators
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DOI：
10.1109/tase.2012.2206023
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发表时间：
2013-07
影响因子：
5.6
通讯作者：
Zhibin Li;Y. Lou;Yongsheng Zhang;Bin Liao;Zexiang Li
中科院分区：
文献类型：
--
作者：
Zhibin Li;Y. Lou;Yongsheng Zhang;Bin Liao;Zexiang Li
提出了一类新型的空间四自由度带四个相同子链的仿射运动并联机器人。它们的特点是每个串联子链都进行纯Schoenflies运动，没有多余的关节。并联机构具有最简单的拓扑结构，适合于拾取和放置操作。详细分析了4-PRPaR并联机器人的运动学分析，包括其正、逆运动学、奇异性和工作空间。分析表明，为获得良好的可操作性，动平台和基座必须是异尺度的。并联机器人的优化设计是一个多目标优化问题。提出了一种新的性能指标--规则工作空间份额，作为设计目标之一。另一个目标是全局条件指数，它衡量的可操作性。多目标优化问题提供多个最优解供选择。仿真验证了所设计的并联机器人能够逼近规定的规则工作空间，并且具有良好的状态指标。
A novel class of spatial four degree-of-freedom Schönflies-motion parallel manipulators with four identical subchains is presented. Their features are that each serial subchain undergoes the pure Schönflies motion without redundant joints. The parallel mechanisms possess the simplest topology and are suitable for pick-and-place operations. Kinematic analysis of the 4-PRPaR parallel manipulator, including its inverse and forward kinematics, singularity, and workspace, is discussed in detail. The analysis shows that the moving platform and the base must be in dissimilar dimension for good manipulability performance. The optimal design of the parallel manipulator is formulated as a multiobjective optimization problem. A novel performance index characterizing the approximation of the generated workspace to the prescribed regular workspace, the regular workspace share, is proposed to serve as one of the design objectives. The other objective is the global condition index, which measures the manipulability. The multiobjective optimization problem provides multiple optimal solutions for choice. Simulation verifies that the designed parallel manipulator can approximate the prescribed regular workspace with good condition index.