Journal of South China University of Technology (Natural Science Edition) ›› 2007, Vol. 35 ›› Issue (12): 39-44.

• Mechanical Engineering • Previous Articles     Next Articles

Dimensional Synthesis of a Novel 2-DOF High-Speed Parallel Manipulator

Yuan lian-feng  Zhao Xian-min   

  1. School of Mechanical Engineering , South China Univ. of Tech. , Guangzhou 510640 , Guangdong , China
  • Received:2007-01-23 Online:2007-12-25 Published:2007-12-25
  • Contact: 袁剑锋(1974-) ，男，博士生，高级工程师，主要从事机器人研究 E-mail:swordyuan@126.com
  • About author:袁剑锋(1974-) ，男，博士生，高级工程师，主要从事机器人研究
  • Supported by:

    广东省自然科学基金资助项目(05006494) ;粤港关键领域重点突破招标项目(东莞专项20061682) ;广东省教育部产学研结合项目(2006D90304001) ;高等学校优秀青年教师教学科研奖励计划项目

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Abstract:

The conceptual design of the 2-DOF (Degree of Freedom) translational parallel mechanism with passive limbs is investigated , and some potential structures of the passive limb are generalized. Then , the DOF of the passive limb is analyzed based on the screw theory， and a novel high-speed parallel manipulator containing two active limbs and two passive limbs is presented. The two passive limbs are used to restrict the rotation of the movable platform and to improve the stiffness of the parallel manipulator. Moreover , a dimensional synthesis of the parallel manipulator is carried out based on the kinematic analysis , with the weight values of the mean and maximum condition numbers of Jacobian matrix in the operation space as the performance measures. The results show that the presented manipulator can be combined with a 1-DOF feed mechanism to create a 3 -DOF translational hybrid manipulator for the pick-and-place operation in industrial fields.

Key words: parallel manipulator, kinematic analysis, dimensional synthesis