کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
7179628 | 1467730 | 2016 | 19 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Comparison of 3-DOF asymmetrical spherical parallel manipulators with respect to motion/force transmission and stiffness
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
This paper presents a comparative study of asymmetrical spherical parallel manipulators with respect to motion/force transmission and stiffness. The manipulators adopt a center shaft to both generate a decoupled unlimited-torsion motion and support the mobile platform for high positioning accuracy, where the difference lies in the rotationally/linearly actuated limbs in-parallel. The transmission indices are defined based on the virtual coefficient between the transmission wrench and twist screws for design analysis. Comparison of the manipulators is carried out based on a multi-objective optimization approach, which aims to maximize the workspace of high transmissibility and stiffness over a regular workspace. Performance isocontours are visualized to highlight the advantages/drawbacks among the manipulator counterparts.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 105, November 2016, Pages 369-387
Journal: Mechanism and Machine Theory - Volume 105, November 2016, Pages 369-387
نویسندگان
Guanglei Wu, Ping Zou,