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Performance atlases of the workspace for planar 3-DOF parallel manipulators

Published online by Cambridge University Press:  18 April 2001

Xin-Jun Liu ,
Jinsong Wang  and
Feng Gao
Xin-Jun Liu
Affiliation:
Manufacturing Engineering Institute, Department of Precision Instruments, Tsinghua University, Beijing, 100084 (P.R. of China)
Jinsong Wang
Affiliation:
Manufacturing Engineering Institute, Department of Precision Instruments, Tsinghua University, Beijing, 100084 (P.R. of China)
Feng Gao
Affiliation:
Robotics Research Center, Hebei University of Technology, Tianjin, 300130 (P.R. of China)
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Abstract

The design of the robotic mechanisms is most important because they determine the performance characteristics of the robots. This paper concerns the issue of computer-aided design (CAD) for planar 3-DOF parallel robotic mechanisms by means of the physical model of the solution space, which can be used systematically to express the relationships between the performance criteria and all link lengths of one type of the robtic mechanism. The performance atlases of the workspace volume for the manipulators are plotted in the physical model of the solution space. The characteristics of the distribution of the workspace shapes in the physical model of the solution space are presented. The results are useful for the optimum design of the robotic mechanisms. This paper proposes a new way for robotic CAD.

Keywords

Workspaces atlasParallel manipulatorsRobotic mechanismsPhysical model of the solution space
Type
Research Article
Information
Robotica , Volume 18 , Issue 5 , September 2000 , pp. 563 - 568
Copyright
© 2000 Cambridge University Press

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