Dimensional Synthesis for 3-PRS Mechanism Based on Identifiability Performance

摘要

Many performance indices for parallel mechanism are put forward in the phase of dimensional synthesis,except for identifiability index,which determines the difficulty of kinematical calibration.If the dimensional parameters are inappropriately selected,the existing methods for optimizing identifiability will not effectively work.Thus,with the aim of studying identifiability optimization in dimensional synthesis for 3-PRS mechanism,kinematics with structural errors is analyzed to provide theoretical bases for kinematical model.Then through a comparison of two 3-PRS mechanisms with different dimensional parameters,identifiability performance is proved to be necessary and feasible for optimization in the phase of dimensional design.Finally,an index δ is proposed to scale the identifiability performance.With the index,identifiability analysis and dimensional synthesis simulation in the whole workspace is completed.The index is verified to be correct and feasible,and based on the index,a procedure of dimensional synthesis,as well as an example set of non-dimensional parameters of 3-PRS mechanism,is proposed.The proposed identifiability index and design method can effectively introduce identifiability optimization into dimensional synthesis,and will obviously benefit later kinematical calibration.