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Dimensional synthesis of a 3-DOF parallel manipulator based on dimensionally homogeneous Jacobian matrix

【摘要】:A study of dimensional synthesis of a 3-DOF parallel manipulator with coupling of translation and rotation is carried out.The architecture of the manipulator is composed of a moving platform attached to a fixed base through three identical PRS(prismatic-revolute-spherical) serial limbs,whose unique topology leads to the physical unit inconsistency of the conventional Jacobian matrix and the emergence of the parasitic motion.Then this paper introduces a kinetostatic performance index of the manipulator based on the condition of a dimensionally homogeneous Jacobian matrix,later,the workspace of the aforementioned manipulator is searched and the influence of the crucial design variables on the workspace is analyzed.Finally,a dimensional synthesis method of the manipulator is proposed,which may be regarded as a nonlinear programming problem with subject to the parasitic motion and other several engineering constraints.

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