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Technical Briefs

Optimal Kinematic Design and Application of a Redundantly Actuated 3DOF Planar Parallel Manipulator

[+] Author and Article Information
Jun Wu

Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, P.R.C.wu-j03@mails.tsinghua.edu.cn

Jinsong Wang, Liping Wang

Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, P.R.C.

J. Mech. Des 130(5), 054503 (Mar 26, 2008) (5 pages) doi:10.1115/1.2890118 History: Received May 21, 2007; Revised September 05, 2007; Published March 26, 2008

This paper addresses optimal kinematic design and application of a redundantly actuated parallel manipulator with 3DOFs. Based on the kinematic model, the Jacobian matrix is derived and then transferred to a uniform form such that the conditioning index has explicit physical meaning. Based on the task workspace, the width between two columns is determined. Then, a comprehensive performance index, which compromises the conflict between workspace utilization performance measure and conditioning index, is proposed for the optimum design. The parallel manipulator is incorporated into a 4DOF hybrid machine tool, which also includes a feed worktable. Furthermore, a 5DOF machine tool is created by combining the parallel manipulator with a 2DOF worktable to machine blades of gas turbines.

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Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 1

3D model of the parallel manipulator

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Figure 2

Kinematic model of the parallel manipulator

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Figure 3

Position workspace of the manipulator

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Figure 4

Photograph of the 4DOF machine tool

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Figure 5

Photograph of the 5DOF machine tool

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Figure 6

The moving platform

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