| 平移型3-UPU并联机构的工作空间分析 |
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| 引用本文： | 罗友高,郑相周,宾鸿赞.平移型3-UPU并联机构的工作空间分析[J].上海大学学报(英文版),2005,9(1):62-67. |
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| 作者姓名： | 罗友高 郑相周 宾鸿赞 |
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| 作者单位： | [1]SchoolofMechanicalScienceandEngineering,HuazhongUniversityofScienceandTechnology,Wuhan430074,P.R.China [2]SchoolofEngineeringTechnology,HuazhongAgriculturalUniversity,Wuhan430070,P.R.China |
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| 摘 要： | To determine workspace and relationship between the workspace and geometry of parallel manipulator is important for optimum design of parallel manipulators. In this paper, the workspace and the relationship between the workspace and the geometry of 3-UPU parallel manipulators with pure translation axe investigated. Geometric and non-geometric constraints are defined and taken account of in determining the workspace of the translation 3-UPU manipulators. A direct average condition number is used as the global performance index of the workspace. This research shows that there exists an optimal value of the direct average condition number favorable for a good design of parallel mechanisms. The results presented in this paper are useful for the optimum design of 3-UPU parallel manipulators.
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| 关 键 词： | 平移型3-UPU并联机构 工作空间 机械设计 控制算法 最佳几何尺寸设计 |
| 收稿时间： | 9 July 2003 |
Workspace of translation 3-UPU parallel manipulators |
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| Luo?You-go,Zheng?Xiang-zkou,Bin?Hong-zan.Workspace of translation 3-UPU parallel manipulators[J].Journal of Shanghai University(English Edition),2005,9(1):62-67. |
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| Authors: | Luo You-go Zheng Xiang-zkou Bin Hong-zan |
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| Institution: | 1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, P.R. China
2. School of Engineering Technology, Huazhong Agricultural University, Wuhan 430070, P.R. China |
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| Abstract: | To determine workspace and relationship between the workspace and geometry of parallel manipulator is important for optimum design of parallel manipulators. In this paper, the workspace and the relationship between the workspace and the geometry of 3-UPU parallel manipulators with pure translation are investigated. Geometric and non-geometric constraints are defined and taken account of in determining the workspace of the translation 3-UPU manipulators. A direct average condition number is used as the global performance index of the workspace. This research shows that there exists an optimal value of the direct average condition number favorable for a good design of parallel mechanisms. The results presented in this paper are useful for the optimum design of 3-UPU parallel manipulators. |
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| Keywords: | UPU parallel manipulator workspace translation |
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