Analysis of the Design Space and Dexterity of a Planar Two Degree of Freedom Parallel Manipulator
A novel planar two degree of freedom parallel manipulator is presented,its moving platform of the manipulator has smaller inertia and the output of the manipulator is planar translational motion.Unlike the traditional optimum analysis method,not only the geometric parameters,but also the range of th...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2015-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.04.043 |
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| _version_ | 1841548268573556736 |
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| author | Wang Bing Nie Xumeng Han Shukui |
| author_facet | Wang Bing Nie Xumeng Han Shukui |
| author_sort | Wang Bing |
| collection | DOAJ |
| description | A novel planar two degree of freedom parallel manipulator is presented,its moving platform of the manipulator has smaller inertia and the output of the manipulator is planar translational motion.Unlike the traditional optimum analysis method,not only the geometric parameters,but also the range of the linear actuators of the manipulator are considered as the kinematics parameters,the design space is obtained by normalizing the actuation and geometric parameter.The dexterity performance index is calculated in the design space,the dexterity atlas of the manipulator is plotted.The dexterity atlas reflects the relationship between the dexterity performance index and the kinematics parameters of the manipulator.The dexterity atlas is very useful for the design of the new manipulator and the new method also provides a simple,comprehensive and effective way for design parallel manipulator that is actuated by linear actuators. |
| format | Article |
| id | doaj-art-e77216dea2024b1196221704e1c3f2a3 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2015-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-e77216dea2024b1196221704e1c3f2a32025-01-10T14:07:36ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392015-01-0139373929916110Analysis of the Design Space and Dexterity of a Planar Two Degree of Freedom Parallel ManipulatorWang BingNie XumengHan ShukuiA novel planar two degree of freedom parallel manipulator is presented,its moving platform of the manipulator has smaller inertia and the output of the manipulator is planar translational motion.Unlike the traditional optimum analysis method,not only the geometric parameters,but also the range of the linear actuators of the manipulator are considered as the kinematics parameters,the design space is obtained by normalizing the actuation and geometric parameter.The dexterity performance index is calculated in the design space,the dexterity atlas of the manipulator is plotted.The dexterity atlas reflects the relationship between the dexterity performance index and the kinematics parameters of the manipulator.The dexterity atlas is very useful for the design of the new manipulator and the new method also provides a simple,comprehensive and effective way for design parallel manipulator that is actuated by linear actuators.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.04.043 |
| spellingShingle | Wang Bing Nie Xumeng Han Shukui Analysis of the Design Space and Dexterity of a Planar Two Degree of Freedom Parallel Manipulator Jixie chuandong |
| title | Analysis of the Design Space and Dexterity of a Planar Two Degree of Freedom Parallel Manipulator |
| title_full | Analysis of the Design Space and Dexterity of a Planar Two Degree of Freedom Parallel Manipulator |
| title_fullStr | Analysis of the Design Space and Dexterity of a Planar Two Degree of Freedom Parallel Manipulator |
| title_full_unstemmed | Analysis of the Design Space and Dexterity of a Planar Two Degree of Freedom Parallel Manipulator |
| title_short | Analysis of the Design Space and Dexterity of a Planar Two Degree of Freedom Parallel Manipulator |
| title_sort | analysis of the design space and dexterity of a planar two degree of freedom parallel manipulator |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.04.043 |
| work_keys_str_mv | AT wangbing analysisofthedesignspaceanddexterityofaplanartwodegreeoffreedomparallelmanipulator AT niexumeng analysisofthedesignspaceanddexterityofaplanartwodegreeoffreedomparallelmanipulator AT hanshukui analysisofthedesignspaceanddexterityofaplanartwodegreeoffreedomparallelmanipulator |