Closed-form solutions were developed to optimize kinematics design of a 2-degree-of-freedom （2- DOF） planar parallel manipulator. The optimum design based on the workspace was presented. Meanwhile, a global, compreh...Closed-form solutions were developed to optimize kinematics design of a 2-degree-of-freedom （2- DOF） planar parallel manipulator. The optimum design based on the workspace was presented. Meanwhile, a global, comprehensive conditioning index was introduced to evaluate the kinematic designs. The optimal parallel manipulator is incorporated into a 5-DOF hybrid machine tool which includes a 2-DOF rotational milling head and a long movement worktable. The results show that the planar parallel manipulator-based machine tool can be successfully used to machine blades and guide vanes for a hydraulic turbine.展开更多
基金the National Natural Science Foundation of China (No. 50305016)the National High-Tech Research and Devel-opment (863) Program of China (Nos. 2004AA424120 and 2005AA424223)
文摘Closed-form solutions were developed to optimize kinematics design of a 2-degree-of-freedom （2- DOF） planar parallel manipulator. The optimum design based on the workspace was presented. Meanwhile, a global, comprehensive conditioning index was introduced to evaluate the kinematic designs. The optimal parallel manipulator is incorporated into a 5-DOF hybrid machine tool which includes a 2-DOF rotational milling head and a long movement worktable. The results show that the planar parallel manipulator-based machine tool can be successfully used to machine blades and guide vanes for a hydraulic turbine.
