sustainability-03-02217 - Sustainability 2011 3 2217-2228...

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Sustainability 2011 , 3 , 2217-2228; doi:10.3390/su3112217 sustainability ISSN 2071-1050 Article Workspace Representation and Optimization of a Novel Parallel Mechanism with Three-Degrees-of-Freedom Zhen Gao and Dan Zhang * Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, Oshawa ON L1H 7K4, Canada; E-Mail: [email protected] * Author to whom correspondence should be addressed; E-Mail: Dan. [email protected]; Tel.: +1-905-721-8668 ext. 5721; Fax: +1-905-721-3370. Received: 22 August 2011; in revised form: 26 October 2011 / Accepted: 9 November 2011 / Published: 17 November 2011 Abstract: The development of a new parallel mechanism based on simulation driven design is a rapid approach to discover the unique features or advantages of a conceptual model. In this research, one novel parallel mechanism which can generate three degrees-of-freedom translations is proposed. The kinematic model and Jacobian matrix is derived. The workspace generation and mapping is investigated based on simplified boundary searching method. The particle swarm algorithm is applied to search for the optimal volume of workspace. Keywords: parallel mechanism; kinematic model; workspace; particle swarm algorithm 1. Introduction The traditional parallel robots have proved their advantages in aspects of stiffness, rigidness, dexterity, reconfigurability, with the extensive applications in machine tools [1-3], motion simulators [4], picking and placing, sensors [5,6] and so on [7,8]. However, compared with the serial one, the drawbacks of the parallel robot is obvious [9,10]. Take its application in manufacturing as an example. The parallel robotic machines are usually composed with the active prismatic joint, the passive revolute joint, the passive universal joint or the passive spherical joint. According to the experience of real experiments, if the control system is broken or the OPEN ACCESS
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Sustainability 2011 , 3 2218 vibration of the power supply, the unexpected motion will happen in these joints which may induce the permanent damage of the joints. For the scenario of medical micromanipulation, the requirement of precision and safety is high. The compliant mechanism is fabricated with very flexible hinge or other flexure joint. The integration of compliant mechanism and parallel mechanism can provide an effective solution especially in precision and dexterity [11-14]. Besides, simulation driven design (SDD) as an effective method has been widely applied for the rapid prototype development. Based on SDD, the unique features or advantages of the conceptual model can be discovered in a high efficiency. Many restriction factors of the parallel robot, including degree-of-freedom and configuration constraint of various joints, mechanical collision of different components, actuators stroke and singular limitations, affect the performances of workspace. Many scholars have developed different approaches and algorithms to investigate the features of workspace, especially its volume [15-27]. In [15], the joint workspace of a parallel kinematic machine (PKM) was calculated using the forward kinematic model.
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sustainability-03-02217 - Sustainability 2011 3 2217-2228...

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