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Huang Tian
Li Meng
Zhao Xingyu
School of Mechanical Engineering,
Tianjin University,
Tianjin 300072, China
D J Whitehouse
School of
Engineering,
University of Warwick,
Coventry CV4 7AL, UK |
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KINEMATIC DESIGN
OF A
RECONFIGURABLE MINIATURE
PARALLEL KINEMATIC MACHINE*
Abstract:
The kinematic design of a reconfigurable miniature parallel kinematic machine is dealt with. It shows that the reconfigurability
may be realized by packaging a tripod-based parallel mechanism
with fixed length struts into a compact and rigid frame with
which the different configurations can be formed. Utilizing a
dual parameter model, the influences of the geometrical
parameters on the dexterous performance and the
workspace/machine volume ratio are investigated. A novel global
performance index for the dimensional synthesis is proposed and optimized, resulting in a set of dimensionless geometrical parameters.
Key words:
Parallel kinematic machine Modularity Kinematic design |