提出新型冗余并联机器人，优化其工作空间与运动性能。
Geometric Parameter Optimization of a Novel 3-(PP(2-(UPS))) Redundant Parallel Mechanism based on Workspace Determination
- 设计3-(PP(2-(UPS)))新型冗余并联机构，提升通用性。
- 定义扭转和倾斜指标，量化分析工作空间形态与方向能力。
- 仿真验证参数影响，为同类机构设计提供参考。
冗余并联机器人在精度、承载能力和工作空间方面优于传统并联机构，但其基础构型与几何参数优化仍具挑战。本文提出一种新型3-(PP(2-(UPS)))冗余并联机构，具备良好通用性，并通过分析关键几何参数对工作空间体积、形状、边界完整性及方向能力的影响，开展运动学优化研究。定义扭转能力指数TI_1与倾角能力指数TI_2，用于评估机构的方位性能。数值仿真验证了分析有效性，为3-(PP(2-(UPS)))及其他类似冗余并联机构的参数优化提供了合理且必要的参考。
原文摘要 · Abstract (English)
Redundant parallel robots are normally employed in scenarios requiring good precision, high load capability, and large workspace compared to traditional parallel mechanisms. However, the elementary robotic configuration and geometric parameter optimization are still quite challenging. This paper proposes a novel 3-(PP(2-(UPS))) redundant parallel mechanism, with good generalizability first, and further investigates the kinematic optimization issue by analyzing and investigating how its key geometric parameters influence the volume, shape, boundary completeness, and orientation capabilities of its workspace. The torsional capability index TI_1 and tilting capability index TI_2 are defined to evaluate the orientation performance of the mechanism. Numerical simulation studies are completed to indicate the analysis, providing reasonable but essential references for the parameter optimization of 3-(PP(2-(UPS))) and other similar redundant parallel mechanisms.
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