Dimension Optimization of an Orientation Fine-Tuning Manipulator for Segment Assembly Device

摘要

This study focuses on the dimension synthesis of a three-DOF spherical parallel manipulator which can be used for orientation fine-tuning of segments in shield tunneling machine. Several performance indices are introduced by taking into account the motion/force transmissibility. The workspace of the manipulator is discussed. The process of determining the optimum geometric parameters is presented with respect to the performance chart. The manipulator that has good motion/force transmissibility in the whole workspace is identified.