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Evaluation of the Kinematic Performance of a 3-RRS Parallel Mechanism

Published online by Cambridge University Press:  23 July 2020

Manxin Wang ,
Qiusheng Chen ,
Haitao Liu Open the ORCID record for Haitao Liu [Opens in a new window] ,
Tian Huang ,
Hutian Feng  and
Wenjie Tian Open the ORCID record for Wenjie Tian [Opens in a new window]
Manxin Wang
Affiliation:
School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing210094, China
Qiusheng Chen
Affiliation:
School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing210094, China
Haitao Liu*
Affiliation:
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin300072, China
Tian Huang
Affiliation:
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin300072, China
Hutian Feng
Affiliation:
School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing210094, China
Wenjie Tian
Affiliation:
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin300072, China
*
*Corresponding author. E-mail: liuht@tju.edu.cn
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Summary

This paper proposes a set of novel indices for evaluating the kinematic performance of a 3-RRS (R and S denote revolute and spherical joint respectively, R denotes active joint.), parallel mechanism whose translational and rotational movements are strongly coupled. First, the indices are formulated using the decoupled overall Jacobian matrix, which is developed using coordinate transformation. Then, the influences of the homogeneous dimensionless parameters on these indices are investigated. In addition, the dimension synthesis of the 3-RRS parallel mechanism is carried out by minimizing the mean value of the kinematic performance indices and their standard deviation. The results demonstrate that the established approach facilitates good global kinematic performance of the parallel mechanism.

Keywords

Parallel mechanismDecoupled overall Jacobian matrixKinematic performance evaluation
Type
Articles
Information
Robotica , Volume 39 , Issue 4 , April 2021 , pp. 606 - 617
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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