Dynamic isotropic performance evaluation of a 3-DOF parallel manipulator

doi:10.16511/j.cnki.qhdxxb.2017.22.041

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Abstract Dynamic modeling was used to evaluate a 3-PRRU parallel manipulator in a high-speed hybrid machine tool. The virtual work principle was used to develop the dynamic model of the 3-PRRU parallel mechanism with two new indices defined to evaluate the isotropy of dynamics from a kinetic energy viewpoint. The indices were then used in an atlas method for a five dimensions image. The results show that these indices accurately describe the isotropic performance of the 3-PRRU parallel manipulator. The two indices have uniform dimensions, clear physical meaning, and can accurately describe the dynamics of parallel manipulators.

Keywords parallel manipulator dynamic model performance evaluation isotropic

ZTFLH:

TP242.2

Issue Date: 15 August 2017

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	ZHANG Binbin
	WANG Liping
	WU Jun

Cite this article:

ZHANG Binbin,WANG Liping,WU Jun. Dynamic isotropic performance evaluation of a 3-DOF parallel manipulator[J]. Journal of Tsinghua University(Science and Technology), 2017, 57(8): 803-809.

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http://jst.tsinghuajournals.com/EN/10.16511/j.cnki.qhdxxb.2017.22.041 OR http://jst.tsinghuajournals.com/EN/Y2017/V57/I8/803

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