摘要
The kinematic design of a reconfigurable miniature parallel kinematic machineis dealt with. It shows that the reconfigurability may be realized by packaging a tripod-basedparallel mechanism with fixed length struts into a compact and rigid frame with which the differentconfigurations can be formed. Utilizing a dual parameter model, the influences of the geometricalparameters on the dexterous performance and the workspace/machine volume ratio are investigated. Anovel global performance index for the dimensional synthesis is proposed and optimized, resulting ina set of dimensionless geometrical parameters.
The kinematic design of a reconfigurable miniature parallel kinematic machineis dealt with. It shows that the reconfigurability may be realized by packaging a tripod-basedparallel mechanism with fixed length struts into a compact and rigid frame with which the differentconfigurations can be formed. Utilizing a dual parameter model, the influences of the geometricalparameters on the dexterous performance and the workspace/machine volume ratio are investigated. Anovel global performance index for the dimensional synthesis is proposed and optimized, resulting ina set of dimensionless geometrical parameters.
基金
This project is supported by National Natural Science Foundation of China (No.50075059)
Tianjin Science and Technology Commission (No. 99370111 andNo.003802111).
