The Optimum Design Of Srherical 2-DOF Parallel Manipulator With Actuation

As the localization equipment of a spot in the spherical surface, spherical 5R parallel manipulator will be developed and used in many fields in future. The spherical 2-DOF parallel manipulator with actuation redundancy could reduct the singularity and improve the stiffness and accuracy of manipulator. So, this manipulator with actuation redundancy will work better than which without actuation redundancy. The subject of this thesis is the spherical 2-DOF parallel manipulator with actuation redundancy, the optimum design in different application is realized through programming, and the singularity configuration is analyzed from the angle of the feasibility.On the basis of the kinematic analysis of the spherical 2-DOF parallel manipulator with actuation redundancy, the relationship between theoretical workspace shape and dimension of this manipulator is also summarized, then calculating the corresponding data.Singularity of the spherical 2-DOF parallel manipulator with actuation redundancy is investigated by analyzing the feasibility, mathematic conditions and geometrical characters of singular configurations are analyzed.According to the principle which proper attention to both the global and local performance indices, program is written to realize the optimum design in different application. Through programming with the software VB,Matlab and Pro/E, the performance atlas could be drawed, the local indices could be analyzed, the global indices could be calculated and three dimensional modeling of the mechanism could be developed in the process of optimum design. Finally, explained the process of optimum design through two optimum design example.