科研之友
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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.
