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Atlas based kinematic optimum design of the Stewart parallel manipulator

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Abstract

Optimum design is a key approach to make full use of potential advantages of a parallel manipulator. The optimum design of multi-parameter parallel manipulators(more than three design parameters), such as Stewart manipulator, relies on analysis based and algorithm based optimum design methods, which fall to be accurate or intuitive. To solve this problem and achieve both accurate and intuition, atlas based optimum design of a general Stewart parallel manipulator is established, with rational selection of design parameters. Based on the defined spherical usable workspace(SUW), primary kinematic performance indices of the Stewart manipulator, involving workspace and condition number are introduced and analyzed. Then, corresponding performance atlases are drawn with the established non-dimensional design space, and impact of joint distribution angles on the manipulator performance is analyzed and illustrated. At last, an example on atlas based optimum design of the Stewart manipulator is accomplished to illustrate the optimum design process, considering the end-effector posture. Deduced atlases can be flexibly applied to both quantitative and qualitative analysis to get the desired optimal design for the Stewart manipulator with respect to related performance requirements. Besides, the established optimum design method can be further applied to other multi-parameter parallel manipulators.

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Authors and Affiliations

  1. State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Zhufeng Shao, Xiaoqiang Tang & Liping Wang

  2. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing, 100084, China

    Zhufeng Shao, Xiaoqiang Tang & Liping Wang

  3. School of Aeronautics and Astronautics Engineering, Purdue University, West Lafayette, IN, 47907, USA

    Dengfeng Sun

Authors
  1. Zhufeng Shao
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  2. Xiaoqiang Tang
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  3. Liping Wang
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  4. Dengfeng Sun
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Corresponding author

Correspondence to Xiaoqiang Tang.

Additional information

Supported by National Natural Science Foundation of China(Grant Nos. 51205224, 51475252), and National Outstanding Youth Science Foundation of China(Grant No. 51225503)

SHAO Zhufeng, born in 1983, is currently an assistant professor at Department of Mechanical Engineering, Tsinghua University, China. He received his PhD degree from Tsinghua University, China, in 2011. His research interests include design, dynamic analysis and control of the parallel manipulator.

TANG Xiaoqiang, born in 1973, is currently an associate professor and a PhD candidate supervisor at Department of Mechanical Engineering, Tsinghua University, China. His main research interests include parallel manipulator, cable robots, and motion control.

WANG Liping, born in 1967, is currently a professor and a PhD candidate supervisor at Department of Mechanical Engineering, Tsinghua University, China. His main research interests lie in the advanced manufacturing equipment.

SUN Dengfeng, born in 1975, is currently an associate professor at School of Aeronautics and Astronautics Engineering, Purdue University, USA. His main research interests include modeling, simulation and optimization of large scale networked systems.

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Shao, Z., Tang, X., Wang, L. et al. Atlas based kinematic optimum design of the Stewart parallel manipulator. Chin. J. Mech. Eng. 28, 20–28 (2015). https://doi.org/10.3901/CJME.2014.0929.155

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  • DOI: https://doi.org/10.3901/CJME.2014.0929.155

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