| contributor author | Jun Wu | |
| contributor author | Jinsong Wang | |
| contributor author | Liping Wang | |
| date accessioned | 2017-05-09T00:29:47Z | |
| date available | 2017-05-09T00:29:47Z | |
| date copyright | May, 2008 | |
| date issued | 2008 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27873#054503_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/138916 | |
| description abstract | This paper addresses optimal kinematic design and application of a redundantly actuated parallel manipulator with 3DOFs. Based on the kinematic model, the Jacobian matrix is derived and then transferred to a uniform form such that the conditioning index has explicit physical meaning. Based on the task workspace, the width between two columns is determined. Then, a comprehensive performance index, which compromises the conflict between workspace utilization performance measure and conditioning index, is proposed for the optimum design. The parallel manipulator is incorporated into a 4DOF hybrid machine tool, which also includes a feed worktable. Furthermore, a 5DOF machine tool is created by combining the parallel manipulator with a 2DOF worktable to machine blades of gas turbines. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Optimal Kinematic Design and Application of a Redundantly Actuated 3DOF Planar Parallel Manipulator | |
| type | Journal Paper | |
| journal volume | 130 | |
| journal issue | 5 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2890118 | |
| journal fristpage | 54503 | |
| identifier eissn | 1528-9001 | |
| keywords | Machine tools | |
| keywords | Design | |
| keywords | Manipulators AND Jacobian matrices | |
| tree | Journal of Mechanical Design:;2008:;volume( 130 ):;issue: 005 | |
| contenttype | Fulltext | |