[논문]Workspace Optimization and Kinematic Performance Evaluation of 2-DOF Parallel Mechanisms

Nam Yun-Joo; Park Myeong-Kwan

doi:10.1007/bf02916265

Workspace Optimization and Kinematic Performance Evaluation of 2-DOF Parallel Mechanisms 원문보기

Journal of mechanical science and technology, v.20 no.10, 2006년, pp.1614 - 1625

Nam Yun-Joo (Department Mechanical and Intelligent Systems Engineering, Pusan National University) , Park Myeong-Kwan (Research Institute of Mechanical Technology, School of Mechanical Engineering, Pusan National University)

Abstract ▼ AI-Helper

This paper presents the kinematics and workspace optimization of the two different 2-DOF (Degrees-of-Freedom) planar parallel mechanisms: one (called 2-RPR mechanism) with translational actuators and the other (called 2-RRR mechanism) with rotational ones. First of all, the inverse kinematics and Jacobian matrix for each mechanism are derived analytically. Then, the workspace including the output-space and the joint-space is systematically analyzed in order to determine the geometric parameters and the operating range of the actuators. Finally, the kinematic optimization of the mechanisms is performed in consideration of their dexterity and rigidity. It is expected that the optimization results can be effectively used as a basic material for the applications of the presented mechanisms to more industrial fields.

주제어

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문제 정의

Consequently, the goal of this paper is to perform the workspace optimization of two different conventional 2-DOF parallel mechanisms and to evaluate their kinematic performances. The presented parallel mechanisms are a kind of 5-bar link position mechanism with two actuators and three passive rotational joints.

제안 방법

In this paper, the kinematic analysis and the workspace optimization of two different 2-DOF planar parallel mechanisms were performed, of which one with the translational actuators and the other with the rotational actuators.
The objective of the workspace optimization is to determine a set of the design parameters of the mechanism leading to the composite performance index to be maximized. The design parameters of the 2-RPR mechanism include the minimal length of the transitional actuator, /min in Eq.

이론/모형

The operating range and the constraining conditions for the design parameter, which were obtained from the input jointspace analysis, could be very effectively used at the workspace optimization stage. Finally, the workspace optimization of the mechanisms was performed by using the composite performance index introduced in the perspective of the dexterity, rigidity, and space utilization. Therefore, it is expected that the results in this paper can be effectively used as a basic design material in application of the presented mechanisms to various industrial areas.

성능/효과

The performance indices and the corresponding design parameters of the 2-RPR and 2-RRR mechanisms obtained with respect to the selected set of the weighting factors are represented in Tables 1 and 2, respectively. For the 2-RPR mechanism, the variation of each performance index according to the weighting factor set remains within 0.62% on the basis of the maximum value, which is insignificant. On the other hand, for 2- RRR mechanism, the variation with respect to the weighting factor set is maximally given by 29.

참고문헌 (21)

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