Performance atlases and optimum design of planar 5R symmetrical parallel mechanisms

DOI10.1016/J.MECHMACHTHEORY.2005.05.003MaRDI QIDQ2581745zbMATH OpenOpenAlexFDO

Authors XinJun Liu, Jin-Song Wang, Günter Pritschow

Publication date 10 January 2006

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2005.05.003

zbMATH Keywords

graphical representationperformance indices

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Review text

The paper considers some performance indices such as global conditioning, global velocity, global payload, and global stiffness indices of a planar 5R symmetrical parallel mechanism on the base of the graphical representation of performances and optimum design issues. The corresponding atlases are represented graphically in the established design space. In this way the designer can obtain the optimum result with respect to any object(s).

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Cited in

(11)

• Performance evaluation of two-degree-of freedom planar parallel robots.
• On the kinematic design of the 5R planar, symmetric manipulator
• A new decoupling method for explicit stiffness analysis of kinematically redundant planar parallel kinematic mechanism
• Degeneracy conditions of the dynamic model of parallel robots
• Use of shape invariants in optimal synthesis of geared five-bar linkage
• Comparison of 3-RPR planar parallel manipulators with regard to their kinetostatic performance and sensitivity to geometric uncertainties
• On the optimal kinematic design of the PRRRP 2-DoF parallel mechanism
• Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms
• A new methodology for optimal kinematic design of parallel mechanisms
• Sensitivity comparison of planar parallel manipulators
• Robust multi-objective optimization of parallel manipulators

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