Name
Title | ||
|---|---|---|
Dimensional synthesis of a planar parallel manipulator for pick-and-place operations based on rigid-body dynamics |
Abstract | ||
|---|---|---|
This paper presents a linear driven 2 degree-of-freedoms (DoFs) Parallel Manipulator (PM) for pick-and-place operation in the light industry, and its dynamic dimensional synthesis is carried out. Inverse kinematics and rigid-body dynamics are formulated to propose a dynamic performance index, which is to minimize the maximum driving force of a single link. The index is associated with dimensional and inertial parameters and can be expressed as function of transmission angles. Then performance constraints are considered by investigating the relationship between singular values of Jacobian matrix and mapping characteristics of velocity, accuracy and stiffness. The approach is illustrated in detail through an example and the optimized dimensional parameters are obtained for high performance throughout the entire workspace. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1007/978-3-642-33509-9_25 | ICIRA (1) |
Keywords | Field | DocType |
entire workspace,jacobian matrix,planar parallel manipulator,parallel manipulator,inertial parameter,pick-and-place operation,rigid-body dynamic,high performance,dynamic performance index,dynamic dimensional synthesis,performance constraint,optimized dimensional parameter | Inertial frame of reference,Parallel manipulator,Singular value,Inverse kinematics,Jacobian matrix and determinant,Workspace,Stiffness,Control theory,Control engineering,Engineering,Rigid body dynamics | Conference |
Citations | PageRank | References |
0 | 0.34 | 9 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Binbin Lian | 1 | 4 | 2.20 |
| Yimin Song | 2 | 52 | 6.25 |
| Gang Dong | 3 | 0 | 0.34 |
| Tao Sun | 4 | 168 | 16.47 |
| Yang Qi | 5 | 0 | 0.34 |