Abstract
The development of a new parallel mechanism based on simulation driven design is a rapid approach to discover the unique features or advantages of a conceptual model. In this research, one novel parallel mechanism which can generate three degrees-of-freedom translations is proposed. The kinematic model and Jacobian matrix is derived. The workspace generation and mapping is investigated based on simplified boundary searching method. The particle swarm algorithm is applied to search for the optimal volume of workspace.
Highlights
The traditional parallel robots have proved their advantages in aspects of stiffness, rigidness, dexterity, reconfigurability, with the extensive applications in machine tools [1,2,3], motion simulators [4], picking and placing, sensors [5,6] and so on [7,8].compared with the serial one, the drawbacks of the parallel robot is obvious [9,10]
Based on simulation driven design (SDD), the unique features or advantages of the conceptual model can be discovered in a high efficiency
The linear driven mechanism is embedded in the four bar mechanism which is actuated by a PZT
Summary
The traditional parallel robots have proved their advantages in aspects of stiffness, rigidness, dexterity, reconfigurability, with the extensive applications in machine tools [1,2,3], motion simulators [4], picking and placing, sensors [5,6] and so on [7,8]. Many restriction factors of the parallel robot, including degree-of-freedom and configuration constraint of various joints, mechanical collision of different components, actuators stroke and singular limitations, affect the performances of workspace. Many scholars have developed different approaches and algorithms to investigate the features of workspace, especially its volume [15,16,17,18,19,20,21,22,23,24,25,26,27]. Since many PKMs are developed and fabricated based on decoupled kinematic structure, the single actuated joint usually cannot move dependently.
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