| Spherical 2-DOF parallel manipulator has many advantages, such as, simple mechanism, low cost in manufacturing, and easy controlling. It will be developed and used in many fields in the future. Actuation redundancy can improve the performance of manipulator. So, this manipulator with actuation redundancy will work better than that without actuation redundancy. The subject of this thesis is optimum designing the mechanism, analyzing its dynamic.Firstly, kinematic are studied, inverse Jacobian matrix is derived by constraint equation. The relationship between theoretical workspace shape and dimension of this manipulator is studied also. Using geometry and differential manifolds respectively, singularity of this manipulator is investigated, and classified according to its geometrical characters and physical significance. The singular discriminant is derived out.Global performance indices are studied in design space. The definition of percent performance indices are presented and investigated in design space. Based on this, a program is written for optimization and examples are given.The mathematic model of dynamics for the spherical 2-DOF parallel manipulator with actuation redundancy is set up by Lagrange equation and Lagrange-D'Alembert's equation in this thesis.The simulation for a typical motion is carried out and the kinematic state of the actuated joints is presented. According to the mathematic model of dynamics of the parallel manipulator, through the program operation, the curves of the actuated joint torques are obtained.Finally, the parallel manipulator is simulated by using ADAMS. |
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