Kinematic Analysis and Performance Evaluation of Novel PRS Parallel Mechanism

International Conference on Advances in Materials and Manufacturing Applications 2017

Balaji, K.^1 ; Shahul Hamid Khan, B.^1

Indian Institute of Information Technology Design and Manufacturing, Kancheepuram, Chennai

600 127, India^1

关键词: DOF (degree of Freedom);    Global conditioning indices;    Kinematic configuration;    Local conditioning index;    Minimum singular value;    Parallel mechanisms;    Performance evaluations;    Reachable workspace;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/310/1/012007/pdf
DOI  :  10.1088/1757-899X/310/1/012007

来源: IOP

【 摘 要 】

In this paper, a 3 DoF (Degree of Freedom) novel PRS (Prismatic-Revolute- Spherical) type parallel mechanisms has been designed and presented. The combination of striaght and arc type linkages for 3 DOF parallel mechanism is introduced for the first time. The performances of the mechanisms are evaluated based on the indices such as Minimum Singular Value (MSV), Condition Number (CN), Local Conditioning Index (LCI), Kinematic Configuration Index (KCI) and Global Conditioning Index (GCI). The overall reachable workspace of all mechanisms are presented. The kinematic measure, dexterity measure and workspace analysis for all the mechanism have been evaluated and compared.