Optimal kinematic design of 2-DOF parallel manipulators with well-shaped workspace bounded by a specified conditioning index
Optimal kinematic design of 2-DOF parallel manipulators with well-shaped workspace bounded by a specified conditioning index
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DOI：
10.1109/tra.2004.824690
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发表时间：
2004-06
期刊：
影响因子：
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通讯作者：
Tian Huang;Meng Li;Zhanxian Li;D. Chetwynd;D. Whitehouse
中科院分区：
文献类型：
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作者：
Tian Huang;Meng Li;Zhanxian Li;D. Chetwynd;D. Whitehouse
本文提出了一种用于两自由度镜像对称并联机器人运动学优化设计的混合方法。通过利用局部和全局方法，所提出的方法可以在两个步骤中实现。在第一步中，最佳的架构，在各向同性和直接雅可比矩阵的行为，实现，导致在一组封闭形式的参数关系，使设计变量的数量减少。在第二步中，以指定的条件指标为界的工作空间被生成，该工作空间允许通过优化矩形工作空间中的综合指标来仅确定一个设计参数。以一个转动关节二自由度并联机器人的运动学优化为例，说明了该方法的有效性。
This paper presents a hybrid method for the optimum kinematic design of two-degree-of-freedom (2-DOF) parallel manipulators with mirror symmetrical geometry. By taking advantage of both local and global approaches, the proposed method can be implemented in two steps. In the first step, the optimal architecture, in terms of isotropy and the behavior of the direct Jacobian matrix, is achieved, resulting in a set of closed-form parametric relationships that enable the number of design variables to be reduced. In the second step, the workspace bounded by the specified conditioning index is generated, which allows only one design parameter to be determined by optimizing a comprehensive index in a rectangular workspace. The kinematic optimization of a revolute-jointed 2-DOF parallel robot has been taken as an example to illustrate the effectiveness of this approach.