Performance Analysis and Optimal Design of a 3-DOF 3-PRUR Parallel Mechanism
Performance Analysis and Optimal Design of a 3-DOF 3-PRUR Parallel Mechanism
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DOI：
10.1115/1.2885190
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发表时间：
2008-04
影响因子：
3.3
通讯作者：
Daxing Zeng;Zhen Huang;Wenjuan Lu
中科院分区：
文献类型：
--
作者：
Daxing Zeng;Zhen Huang;Wenjuan Lu
本文以3-PRUR并联机构为研究对象，对其进行了性能分析和优化设计。首先，利用螺旋理论分析了永磁体的流动性。然后，根据该PM的几何特征研究了其运动学，推导了其雅可比矩阵。进一步研究了在给定输入条件下，关于整个工作空间的雅可比矩阵和无量纲参数的性能指标，得到了不同输入条件下的性能图谱。最后，根据性能图谱确定了永磁体的最优设计，并给出了算例。
In this paper, a 3-DOF 3-PRUR parallel mechanism (PM) is chosen for performance analysis and optimal design. First, the mobility of the PM is analyzed by using screw theory. Then, the kinematics of this PM is studied based on the geometrical characteristics and the Jacobian matrix is derived. Furthermore, we research some performance indices with respect to the Jacobian matrix over the whole workspace and nondimensional parameters when the input is given, and their performance atlases are obtained with different inputs. Finally, the optimal design of the PM is determined according to the performance atlases, and some examples are presented.