- 期刊
- OpenAccess
Geometric and Kinematic Performance Analysis and Comparison of Three Translational Parallel Manipulators
並列摘要
In this paper, three translational parallel manipulators, i.e., the RAF, the 3UPU and the Delta, are analyzed for dexterity and workspace. First, the geometric models for these three robots were investigated to determine their respective workspaces. The kinematic models are also derived to calculate the global dexterity of each robot. A multi-objective optimization, where the global dexterity is maximized while minimizing the workspace to best fit a desired workspace, is performed for the three robots. The obtained Pareto front shows that the dexterity and the size of the workspace are two contradictory performances. Another result shows that the Delta robot performs poorly for dexterity but has the smallest size compared to the RAF and 3UPU robots. The CAD models confirmed the results obtained for the workspace for each robot. Based on the dexterity, one can conclude that using linear actuators for parallel robots ensures a higher dexterity.
延伸閱讀
- 郭 昺 辰（2007）。Revisiting Direct Kinematic Singularities of 3PPSR Parallel Manipulator〔碩士論文，淡江大學〕。華藝線上圖書館。https://doi.org/10.6846/TKU.2007.00978
- Fontes, J. V. C., Venter, G. S., & Silva, M. D. (2015). Assessing the Actuation Redundancy Trade-off Effects on the Dynamic Performance of Planar Parallel Kinematic Machines. Proceedings of the 14th IFToMM World Congress, (), 595-600. https://doi.org/10.6567/IFToMM.14TH.WC.OS13.010
- 王翔星、相子元、陳全壽（2008）。Comparison of Kinematics and Kinetics among Slow Ramp Movement, Ballistic Movement and Functional Isometric Movement。大專體育學刊，10(4)，47-57。https://doi.org/10.5297/ser.200812_10(4).0003
- Hayawi, M. J., Isa, A. A. M., Anuar, M. A., & Omar, A. R. (2016). Kinematic and Dexterity Analysis of a 3-DOF Parallel Manipulator. Research Journal of Applied Sciences, Engineering and Technology, 12(2), 239-248. https://www.airitilibrary.com/Article/Detail?DocID=20407467-201601-201602190047-201602190047-239-248
- Liu, H., Huang, T., Kecskeméthy, A., & Chetwynd, D. G. (2015). Force/Motion/Stiffness Transmissibility Analyses of Redundantly Actuated and Overconstrained Parallel Manipulators. Proceedings of the 14th IFToMM World Congress, (), 609-618. https://doi.org/10.6567/IFToMM.14TH.WC.OS13.013