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TECHNICAL BRIEFS

Kinematics and Closed Optimal Design of a Kind of PRRRP Parallel Manipulator

[+] Author and Article Information
Xin-Jun Liu1

Institute of Manufacturing Engineering, Department of Precision Instruments, Tsinghua University, Beijing, 100084, P.R. of ChinaXinJunLiu@mail.tsinghua.edu.cn

Liwen Guan, Jinsong Wang

Institute of Manufacturing Engineering, Department of Precision Instruments, Tsinghua University, Beijing, 100084, P.R. of China

1

Corresponding author.

J. Mech. Des 129(5), 558-563 (May 23, 2006) (6 pages) doi:10.1115/1.2712224 History: Received October 18, 2005; Revised May 23, 2006

This paper addresses optimal kinematic design of a PRRRP (P-prismatic joint, R-revolute joint) parallel manipulator that is horizontally actuated by linear actuators. Kinematically, the symmetrical PRRRP parallel manipulator has only one geometric parameter, i.e., the link length of each of the two legs. Here, we propose a design approach utilizing a performance chart and local performance specification. The key problem in the design of the manipulator is the determination of not the link length but the workspace that the manipulator can reach satisfying the design specification. Such a kind of workspace when the link length unit is defined as the basic good-condition workspace (GCW). For the manipulator studied here, the link length is actually the ratio of the desired task workspace to the basic GCW. This paper gives an effective method to obtain the basic GCW with respect to indices in closed forms. One of the advantages of the method is that the basic GCW is achieved by taking into account both the global and local indices.

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Copyright © 2007 by American Society of Mechanical Engineers
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Figures

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Figure 1

The PRRRP parallel manipulator with horizontal actuation

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Figure 2

Relationship between GCI and the specified LCI

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Figure 3

The relationship between the GSI and the specified LCI

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Figure 4

Distribution of the LCI on the GCW when L=1.0 and 1∕κ=0.2

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Figure 5

Distribution of the LSI on the GCW when L=1.0 and 1∕κ=0.2

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Figure 6

The optimum designed manipulator and its input

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Figure 7

Distribution of the LCI and LSI on the desired task workspace: (a) LCI 1∕κ and (b) LSI ∥Dmax∥

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