Evaluation of the Kinematic Performance of a 3-RRS Parallel Mechanism. Issue 4 (23rd April 2021)

• Record Type: Journal Article
• Authors: Wang, Manxin; Chen, Qiusheng; Liu, Haitao; Huang, Tian; Feng, Hutian; Tian, Wenjie
• Is Part Of: Robotica. Volume 39:Issue 4(2021)
• Page Start: 606
• Page End: 617
• Publication Date: 2021-04-23
• Subjects: Parallel mechanism, -- Decoupled overall Jacobian matrix, -- Kinematic performance evaluation; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574720000612
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: This paper proposes a set of novel indices for evaluating the kinematic performance of a 3-R RS (R and S denote revolute and spherical joint respectively, R denotes active joint.), parallel mechanism whose translational and rotational movements are strongly coupled. First, the indices are formulated using the decoupled overall Jacobian matrix, which is developed using coordinate transformation. Then, the influences of the homogeneous dimensionless parameters on these indices are investigated. In addition, the dimension synthesis of the 3-R RS parallel mechanism is carried out by minimizing the mean value of the kinematic performance indices and their standard deviation. The results demonstrate that the established approach facilitates good global kinematic performance of the parallel mechanism.