Abstract
The acceleration performance function and dynamic performance evaluation combining the acceleration, velocity, gravity and external force of a 2-DoF planar parallel mechanism are presented in this paper. By means of the principle of virtual work, the inverse dynamic model and acceleration performance function of the planar parallel mechanism are setup. Based on the factors in the acceleration performance function, the effect on the acceleration performance of parallel mechanisms is investigated. Then a new method considering the acceleration factor, velocity factor, gravity factor and external force factor for dynamic performance evaluation of the parallel mechanism is introduced, which can evaluate the dynamic performance of high-speed parallel mechanisms more exactly. Based on this method, the evaluation indices used in dynamic optimization are introduced. These indices overcome the limitation of commonly used indices, and lay the foundation for dynamic optimization of parallel mechanisms.
Highlights
Compared to the rapid development of the kinematic performance evaluation method, the dynamic performance evaluation method has developed slowly
In order to compare the dynamic performance of different parallel mechanisms in the whole workspace, a global dynamic evaluation index is proposed based on the dexterous acceleration index (DAI), called the global dexterous acceleration (GDA)
On the basis of analysis, a new dynamic performance evaluation method is proposed and new indices are given at the same time
Summary
Compared to the rapid development of the kinematic performance evaluation method, the dynamic performance evaluation method has developed slowly. A number of studies have addressed the characterization of the dynamic performance, such as generalized inertia ellipsoid (GIE) [1], the acceleration parallelepiped (AP) [2], the acceleration sets (AS) [3], and the dynamic manipulability ellipsoid (DME) [4]. These existing dynamic performance evaluation methods can mainly be divided into two categories: the ellipsoid description methods and the non‐ellipsoid description methods
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