MECHATRONIC DESIGN OF PARALLEL MANIPULATORS

摘要

The paper presents mechatronic procedure of parallel manipulators development and justifies why only such approach can lead to successes. The procedure has been applied to a case study - a novel, versatile 3-RRPRR (Revolute-Revolute-Prismatic-Revolute-Revolute joints), fully-parallel manipulator with three translational degrees of freedom, for pick-and-place and machining applications, characterising in comparatively high payload capacity, large workspace and high attainable accelerations. The resulting construction is shown, with analysis of its kinematics and dynamics. A controller are proposed, simulated and experimentally investigated. Finally, the conclusions and future works are presented.