Technical Brief

Optimal Design of a 2-UPR-RPU Parallel Manipulator

[+] Author and Article Information
Feibo Wang

Mechatronic Institute,
Zhejiang Sci-Tech University,
Hangzhou, Zhejiang Province 310018, China
e-mail: wfbace@hotmail.com

Qiaohong Chen

School of Information,
Zhejiang Sci-Tech University,
Hangzhou, Zhejiang Province 310018, China
e-mail: chen_lisa@zstu.edu.cn

Qinchuan Li

Mechatronic Institute,
Zhejiang Sci-Tech University,
Hangzhou, Zhejiang Province 310018, China
e-mail: lqchuan@zstu.edu.cn

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received October 8, 2014; final manuscript received January 3, 2015; published online February 16, 2015. Assoc. Editor: Oscar Altuzarra.

J. Mech. Des 137(5), 054501 (May 01, 2015) (4 pages) Paper No: MD-14-1674; doi: 10.1115/1.4029587 History: Received October 08, 2014; Revised January 03, 2015; Online February 16, 2015

This paper investigates dimensional optimization of a 2-UPR-RPU parallel manipulator (where U is a universal joint, P a prismatic pair, and R a revolute pair). First, the kinematics and screws of the mechanism are analyzed. Then, three indices developed from motion/force transmission are proposed to evaluate the performance of the 2-UPR-RPU parallel manipulator. Based on the performance atlases obtained, a set of optimal parameters are selected from the optimum region within the parameter design space. Finally, the optimized parameters are determined for practical applications.

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Grahic Jump Location
Fig. 1

Schematic diagram of a 2-UPR-RPU PM

Grahic Jump Location
Fig. 2

Performance design space of the 2-UPR-RPU PM

Grahic Jump Location
Fig. 4

Optimum region with the desired requirements

Grahic Jump Location
Fig. 3

Atlases of TS, GTWV, and GTI



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