A novel symmetrical 3-DOF PKM and its performance comparison with 3-PRS PKM |
| |
| Authors: | Zhao Jingshan |
| |
| Institution: | State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, P.R.China |
| |
| Abstract: | A novel symmetrical 3-degree-of-freedom ( DOF ) parallel kinematic manipulator ( PKM ) is firstly presented, which is named 3-P ( Qu) RU.According to the structure feature, a double closed loop vector method is proposed to investigate this PKM.Based on this method, kinematic, velocity and error models of this manipulator are established respectively.Since3-PRS PKM has been applied successfully in practice and its structure is similar to the 3-P ( Qu) RU PKM, corresponding models of a 3-PRS PKM are given and a performance comparison study between them is investigated on workspace, manipulator dexterity, position error and error sensitivity.The comparison results reveal that the 3-P ( Qu) RU PKM has the advantage on velocity performance and the disadvantage on ac-curacy performance.This novel 3-P ( Qu) RU PKM is an available selection for a tool head of a hy-brid machine tool and the analysis is greatly helpful for the further applications of this manipulator. |
| |
| Keywords: | comparison study parallel kinematic manipulator(PKM) kinematics velocity error |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
