Abstract
Redundantly actuated parallel manipulators (RAPMs) receive growing interest due to their enlarged dexterous workspace, higher stiffness and improved force distribution. The results of dimensional synthesis have an important influence on the comprehensive performance of RAPMs. Usually, dexterity index is one of the performance indices, which should be took into consideration. The dexterity index is based on the algebraic characteristics of the Jacobian matrix. However, for an RAPM with combined motilities of rotation and translation, its Jacobian matrix has inconsistent element units and un-clear physical meaning. This paper establishes a set of dexterity indices based on the dimensionally homogeneous Jacobian (DHJ) matrix of a 2UPR-2RPS RAPM for dimensional synthesis. Firstly, a local dexterity index is established to evaluate the dexterity of the 2UPR-2RPS RAPM at a certain posture. Meanwhile, a global dexterity index is determined in accordance with the local dexterity index. Secondly, a dimensional design method based on the parameter-finiteness normalization method (PFNM) is proposed to optimize the dimensional parameters of the 2UPR-2RPS RAPM. Finally, a set of dimensional parameters is optimized and a laboratory prototype of the 2UPR-2RPS RAPM is fabricated.
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He, Z., Fang, H., Zhang, J. (2023). Dimensional Synthesis of a Novel Redundantly Actuated Parallel Manipulator. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14267. Springer, Singapore. https://doi.org/10.1007/978-981-99-6483-3_7
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DOI: https://doi.org/10.1007/978-981-99-6483-3_7
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