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Analysis and Optimum Kinematic Design of a Parallel Robot

机译：平行机器人的分析与最佳运动学设计

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Parallel robots display important advantages over their serial mechanisms in several applications where both accuracy and dynamic response are needed. Parallel manipulators have been developed extensively for applications that need high accuracy, speed and stiffness, which make them, useful in important fields. But during the designing of the parallel mechanism, it is difficult to determine the dimension of structure and the workspace for the mechanism. For this cause, kinematic optimal design is an important key in designing parallel manipulators, and was received a big attention by researchers in the past decade. Thus, because of the strong dependence of geometric performances and their parameters, the design problems for the parallel robots are more complex and the efficacy of the design method become more difficult. In view of the fact that, the robot's performance depends on numerous factors, it is difficult to say that a particular design is the only solution to a given problem, even though for a robot with only one degree of freedom and four links. If the number of links and number of DoF augment, the design becomes more difficult for the robot. Thus, it is right to know how good a mechanism may run when it is still in the design stage. In this paper, we present first, the inverse kinematic problem and Jacobian matrix of the 3RRR parallel manipulator which is necessary for subsequent analysis, then, an optimal design study is achieved for a class of parallel robots in order to find a set of parameters that attain a good performance in terms of the important performances indexes: the workspace capabilities and dexterity. Finally, simulations results are obtained.
机译：并联机器人在需要精度和动态响应的若干应用中显示出优于它们的串行机制。对于需要高精度，速度和刚度的应用，已经开发了并行机械手，这使得它们有用，可用于重要领域。但在设计并联机构期间，难以确定结构的尺寸和机制的工作空间。为此原因，运动学最优设计是设计平行机械手的重要关键，并受到过去十年的研究人员的重视。因此，由于几何性能的强度依赖性及其参数，并联机器人的设计问题更复杂并且设计方法的功效变得更加困难。鉴于这一事实，机器人的性能取决于众多因素，很难说特定的设计是给定问题的唯一解决方案，即使是只有一种自由度和四个链路的机器人。如果链接数量和DOF增强的数量，则该设计对机器人变得更加困难。因此，知道在设计阶段仍然可以运行机制有多好。在本文中，我们首先出示，逆运动问题和3rr并行机械手的雅各比矩阵，这是后续分析所必需的，然后，为一类并行机器人实现了最佳设计研究，以便找到一组参数在重要的表演索引方面达到良好的表现：工作空间能力和灵巧。最后，获得了模拟结果。

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