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Research Papers: Mechanisms and Robotics

Performance Analysis and Optimal Design of a 3-DOF 3-PRUR Parallel Mechanism

[+] Author and Article Information
Daxing Zeng, Wenjuan Lu

Robotics Research Center, Yanshan University, Hebei 066004 P.R.C.roboms@ysu.edu.cn

Zhen Huang

Robotics Research Center, Yanshan University, Hebei 066004 P.R.C.huangz@ysu.edu.cn

J. Mech. Des 130(4), 042307 (Mar 19, 2008) (9 pages) doi:10.1115/1.2885190 History: Received December 06, 2006; Revised May 11, 2007; Published March 19, 2008

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.

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Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 3

The sections of the workspace. (a) M−z0=0. (b) y0=0. (c) x0=0.

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Figure 4

Atlases of the GCI. (a) The inputs are −0.2⩽l11, l22,l33⩽0.2. (b) The inputs are −0.6⩽l11,l22,l33⩽0.6.

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Figure 7

Atlases of the global stiffness index. (a) Atlas of ζDmin with the inputs −0.2⩽l11,l22,l33⩽0.2. (b) Atlas of ζDmin with the inputs −0.6⩽l11,l22,l33⩽0.6. (c) Atlas of ζDmax with the inputs −0.2⩽l11,l22,l33⩽0.2. (d) Atlas of ζDmax with the inputs −0.6⩽l11,l22,l33⩽0.6.

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Figure 8

The optimal region and line based on the atlases of two kinds of inputs

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Figure 1

The 3-DOF 3-PRUR PM

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Figure 2

The workspace of the 3PRUR PM

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Figure 5

Atlases of the GVI. (a) Atlas of ζVmin with the inputs −0.2⩽l11,l22,l33⩽0.2. (b) Atlas of ζVmin with the inputs −0.6⩽l11,l22,l33⩽0.6. (c) Atlas of ζVmax with the inputs −0.2⩽l11,l22,l33⩽0.2. (d) Atlas of ζVmax with the inputs −0.6⩽l11,l22,l33⩽0.6.

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Figure 6

Atlases of the GPI. (a) Atlas of ζFmin with the inputs −0.2⩽l11,l22,l33⩽0.2. (b) Atlas of ζFmin with the inputs −0.6⩽l11,l22,l33⩽0.6. (c) Atlas of ζFmax with the inputs −0.2⩽l11,l22,l33⩽0.2. (d) Atlas of ζFmax with the inputs −0.6⩽l11,l22,l33⩽0.6.

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