Integrated design of parallel robotic mechanisms for high dynamic performance

本研究的目的是：(I)为提高并联机器人的动态精度发展新的理论；(Ii)为并联机器人在不同任务下的期望刚度开发新的设计方法；(Iii)为并联机器人的标定开发新的方法。具体地说，本研究确定了四个研究目标。目的(1)研究综合评价系统刚度的新的性能指标。目标(2)是研究如何通过质量重分配和路径重规划来重构并联机器人，以使其在期望位姿下达到期望的刚度。目标(3)是建立一种新的并联机器人误差模型，该模型明确表示了三种类型的误差(制造/装配误差、热效应误差和部件变形误差)。误差模型将进一步用于误差分配管理。目的(4)提出一种基于刚度模型的误差校正新方法。并联机器人应用中的两个核心问题是精度和对不同任务的适应性。上述四个目标是保证准确性的基础。前两个目标更多地针对系统的刚度，因为它与机械手系统的精度密切相关，而后两个目标与误差的精度直接相关。这一研究项目的学术意义包括产生新的并联机械手系统设计知识和培养创新设计和开发新的智能系统的研究生。

This research program aims to: (i) develop new theories for a parallel robot manipulator to improve its dynamic accuracy, (ii) develop new design methodologies for the parallel robot manipulator for its desired stiffness with varying tasks, and (iii) develop new calibration methodologies for the parallel robot manipulator. Specifically, four research objectives are defined for this research. Objective (1) is to study the new performance index which gives an overall evaluation of system stiffness. Objective (2) is to study how to reconfigure a parallel manipulator with mass redistribution and path re-planning to achieve a desired stiffness of the manipulator at a desired pose. Objective (3) is to develop a new error model for the parallel robot manipulator in which three types of errors (manufacturing/assembly error, thermal effect error and component deformation error) are explicitly represented. The error model will be further used for error allocation management. Objective (4) is to develop a new method based on the stiffness model for the error calibration process. The two central questions in the application of the parallel manipulator involve the accuracy and the adaptability to different tasks. The above four objectives are fundamental to the accuracy. The first two objectives are more directed to system stiffness as it is strongly related to the accuracy of a manipulator system and the last two objectives concern the accuracy directly on the error. The academic significance of this research program includes the generation of new design knowledge for parallel manipulator systems and the training of graduate students for innovative design and development of new intelligent systems.