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Abstract: The design of a planar three-degree-of-freedom parallel manipulator is considered from a dynamic viewpoint. Firstly, the dynamic equations of the planar three degree-of- freedom parallel manipulator based on the Lagrange equation are presented. Then, three different design measures are established for the first time. For example, selection proper balancing masses are added to the system for eliminating the gravity and most of the coupling terms from the dynamical equations. These design measures are useful for improving dynamic properties, controllability, stability and accuracy of the mechanism. Finally, an example is given in order to illustrate the effect of greatly reducing the required actuator torques and consumed energy. The analysis presented, could provide necessary information for dynamic performance analysis, optimization design and control of the parallel mechanism. The method can be easily extended to the dynamic analysis and design of other multi-linkage and multi-degree-of-freedom mechanisms.
Key words: Parallel manipulator Dynamic design Measure
CLC No:
TH112
国家自然科学基金(50575002)、北京市自然科学基金(3062004)、北京市教委人才强教拔尖人才(PHR(IHLB))、北京市教委科技发展计划(KM200610005003)和北京工业大学研究生科技基金(ykj-2007-1069)资助项目.
Received
20070407,
received
in
revised
form
20071011
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