| Optimal Kinematic Design of a 2-DOF Planar Parallel Manipulator |
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| 作者姓名： | 吴军 李铁民 刘辛军 王立平 |
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| 作者单位： | Institute of Manufacturing Engineering Department of Precision Instruments and Mechanology，Tsinghua University，Institute of Manufacturing Engineering，Department of Precision Instruments and Mechanology，Tsinghua University，Institute of Manufacturing Engineering，Department of Precision Instruments and Mechanology，Tsinghua University，Institute of Manufacturing Engineering，Department of Precision Instruments and Mechanology，Tsinghua University，Beijing 100084，China，Beijing 100084，China，Beijing 100084，China，Beijing 100084，China |
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| 基金项目： | 国家自然科学基金;国家高技术研究发展计划(863计划) |
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| 摘 要： | Closed-form solutions were developed to optimize kinematics design of a 2-degree-of-freedom (2-DOF) planar parallel manipulator. The optimum design based on the workspace was presented. Meanwhile, a global, comprehensive conditioning index was introduced to evaluate the kinematic designs. The optimal parallel manipulator is incorporated into a 5-DOF hybrid machine tool which includes a 2-DOF rotational mill-ing head and a long movement worktable. The results show that the planar parallel manipulator-based ma-chine tool can be successfully used to machine blades and guide vanes for a hydraulic turbine.
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| 关 键 词： | 机器人 运动性能 平面设计 2-DOF技术 |
| 收稿时间： | 2 June 2006 |
| 修稿时间： | 2006-06-022006-08-21 |
Optimal Kinematic Design of a 2-DOF Planar Parallel Manipulator |
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| Jun Wu, &#x; , Tiemin Li, , Xinjun Liu, &#x;û ,Liping Wang, ો.Optimal Kinematic Design of a 2-DOF Planar Parallel Manipulator[J].Tsinghua Science and Technology,2007,12(3):269-275. |
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| Authors: | Jun Wu &#x; Tiemin Li Xinjun Liu &#x;û Liping Wang ો |
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| Institution: | Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China |
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| Abstract: | Closed-form solutions were developed to optimize kinematics design of a 2-degree-of-freedom (2-DOF) planar parallel manipulator. The optimum design based on the workspace was presented. Meanwhile, a global, comprehensive conditioning index was introduced to evaluate the kinematic designs. The optimal parallel manipulator is incorporated into a 5-DOF hybrid machine tool which includes a 2-DOF rotational mill-ing head and a long movement worktable. The results show that the planar parallel manipulator-based ma-chine tool can be successfully used to machine blades and guide vanes for a hydraulic turbine. |
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| Keywords: | planar parallel manipulator global conditioning index hybrid machine tool |
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