Performance Analysis And Optimization Of Rotation Of The Three Vice-drive High-speed Translational DOF Parallel

This dissertation develops a novel3-DOF translational parallel manipulator with revolute actuation suitable for high-speed handling of small objects, taking it as the analysis object through these aspects of the degree of freedoms, kinematics, workspace, force transmissibility and dynamics.Kinematic equations of the spatial compound sub-chain are established using in Denavit-Hartenberg (DH) notation. The numbers of DOF and characteristics are analyzed according to geometric constraint conditions. Then in order to verify validity of the theoretical calculation, the motion of the spatial compound sub-chain is simulated using software. Furthermore, a novel3-DOF translational parallel manipulator is structured based on the spatial compound sub-chain. The kinematics analysis is performed.In terms of kinematic workspace, the workspace of the manipulator first is computed taking into account inverse kinematics and geometric limitations.Secondly, the non-dimensional design space of the mechanism is built by means of the physical model of the solution space. The volume of reachable workspace index and force transmission index are defined. Finally, performance atlases of the indexes are plotted in the physical model of the solution space.A rigid dynamic formulation by the Newton-Euler approach is presented. The force and moment balance equations of the component have been set up.Dynamic equations to the manipulator have been derived.A suitable objective function to combine time-optimal and smooth trajectory planning is presented. The mapping relationship between the input forces and the output forces is obtained.