A generalized method for determining load workspace of spatial parallel mechanisms

A. Mahmoodi, M. Aminzadeh, M. Menhaj, M. Sabzehparvar
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引用次数: 3

Abstract

An analytical-numerical method based on solution of inverse dynamics is presented for determining the load workspace of generally configured parallel motion systems with up to 6 degrees of freedom. The kinematic workspace is also obtained by the method, since the solution of inverse kinematics is embedded in the procedure. The method is first developed for 3DoF motion systems to take the advantages of illustrating the workspace by use of 3D plots. Then it is extended to higher degrees of freedom. For such types of 3DoF motion systems, a generalized trajectory is defined for the manipulator in the kinematic workspace that consists of straight paths connecting 26 selected points of workspace's boundary. The platform performs piecewise sinusoidal movements on the trajectory such that it stops at each of the selected point and goes ahead toward the other with maximum allowable speed. As the platform moves on this trajectory, legs are exposed to any possible static and dynamic forces. The forces obtained in this way are used to determine the force workspace which is defined as the subspace of kinematic workspace in which the structural forces do not exceed their critical values. In this paper, the criterion of structural failure is considered to be the buckling of legs. The generalization of the method to higher degrees of freedom is straightforward. As case studies, a 3DoF heave-roll-pitch motion platform and a hexapod are chosen to apply the method to. The results of the method can be used in the design of both the control system and structure of parallel manipulators. The method is also advantageous in structural design of large sizes motion systems in flight simulator application.
确定空间并联机构载荷工作空间的一种广义方法
提出了一种基于逆动力学解的解析-数值方法,用于确定6自由度的一般并联运动系统的载荷工作空间。由于在程序中嵌入了运动学逆解,该方法还得到了运动学工作空间。该方法首先应用于三维运动系统,利用三维绘图的优势来说明工作空间。然后扩展到更高的自由度。对于这种类型的三维运动系统,在运动工作空间中定义了机械手的广义轨迹,该轨迹由连接工作空间边界的26个选定点的直线路径组成。平台在轨迹上进行分段正弦运动,这样它就会在每个选定的点停止,并以最大允许速度向前移动。当平台沿着这个轨迹移动时,腿会受到任何可能的静态和动态力的影响。用这种方法得到的力被用来确定力工作空间,该工作空间被定义为运动工作空间的子空间,其中结构力不超过其临界值。本文认为结构破坏的判据是腿的屈曲。将该方法推广到更高的自由度是很简单的。作为案例研究,选择了一个三维升降-滚-俯仰运动平台和一个六足架来应用该方法。该方法的研究结果可用于并联机器人的控制系统设计和结构设计。该方法也适用于飞行模拟器中大型运动系统的结构设计。
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