Performance analysis and optimization of a novel large displacement 3-DOF parallel manipulator

2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI:10.1109/ROBIO.2009.4913011

Y. Yun, Yangmin Li

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引用次数: 4

Abstract

In recent years, nanotechnology has been developing rapidly due to its potential applications in various fields that new materials and products are produced. In this paper, a novel macro/micro 3-DOF parallel platform is proposed for micro positioning application. The kinematics model of the dual parallel mechanism system is established via the stiffness model of individual wide-range flexure hinge and vector-loop equation. The inverse solution and parasitic rotation of moving platform is analyzed and simulated on a parallel mechanism with real parameters. Whereafter, the reachable and usable workspace of the macro motion and micro motion of the mechanism are plotted and analyzed. Finally, based on the analysis of parasitic rotation, usable workspace of macro and micro motion, an optimization of the parallel manipulator is presented. The investigations of this paper will provide suggestions to improve the structure and control algorithm optimization for the dual parallel mechanism in order to achieve the features of both larger workspace and higher motion precision.

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一种新型大位移三自由度并联机器人的性能分析与优化

近年来，纳米技术因其在生产新材料和新产品等各个领域的潜在应用而得到迅速发展。本文提出了一种新型宏/微三自由度并联平台，用于微定位。通过单个大范围柔性铰链刚度模型和矢量环方程，建立了双并联机构系统的运动学模型。在具有实参数的并联机构上对运动平台的逆解和寄生旋转进行了分析和仿真。在此基础上，绘制并分析了机构宏观运动和微观运动的可达工作空间和可用工作空间。最后，在对并联机构的寄生旋转、宏、微运动可用工作空间进行分析的基础上，对并联机构进行了优化设计。本文的研究将为双并联机构的结构改进和控制算法优化提供建议，以实现更大的工作空间和更高的运动精度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2008 IEEE International Conference on Robotics and Biomimetics

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