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Tang Xiaoqiang
Li Tiemin
Wang Jinsong
Department of Precision Instruments,
Tsinghua University,
Beijing 100084, China |
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DIMENSIONAL DESIGN THEORY AND METHODOLOGY OF 6-DOF SCISSOR
PARALLEL MANIPULATOR*
Abstract:
Parallel manipulators have many advantages over serial manipulators in terms of high load/weight ratio, velocity, stiffness and precision. A dimensional design theory and methodology of six degrees of freedom scissor parallel manipulator (SPM) is investigated. The SPM kinematics inverse equation is given. Based on the formulation of the local dexterity and the definition about the indexes of workspace incircle radius, the effects of the design parameters on the dexterity and workspace are discussed. Moreover the incircle radius change ratio about workspace are defined and used as the evaluated indicator to analyze the effects of the design parameters on the performances. A dimensional design theory that could satisfy the requirement of dexterity and workspace is proposed. The dimensional design theory and methodology can be of help in the design, trajectory planning and control of parallel manipulator.
Key words:
Dimension Design theory Parallel manipulator |