A Study on the Development of 3-DOF Parallel Manipulators

• Main Authors: Jyun-Hong Huang, 黃竣鴻
• Other Authors: Kao-Yueh Tsai
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/4afwq6

碩士 === 國立臺灣科技大學 === 機械工程系 === 105 === Dexterity, workspace and mechanical efficiency are three of the most important criteria in designing industrial manipulators. A manipulator with optimal dexterity, workspace or mechanical efficiency can be developed by many existing methods. This work presents methods that employ all the three criteria to search for manipulators with desired properties. Direct kinematics is an efficient way to develop the workspace of a 3-DOF parallel manipulator, but the existing methods cannot directly obtain the boundary of the workspace. Using the characteristics of workspace boundaries and direct kinematics, the proposed methods can efficiently determine the boundary of a workspace. The methods are first employed to search for several isotropic designs with a specified workspace. The global isotropy and mechanical efficiency are then evaluated and compared in order to develop the design with better kinematic properties. The methods are applicable to different types of 3-DOF parallel manipulators.