PERFORMANCE ANALYSIS AND KINEMATIC DESIGN OF PURE TRANSLATIONAL PARALLEL MECHANISM WITH VERTICAL GUIDE-WAYS

摘要

Performance analysis and kinematic design of the 3-PUU pure translational parallel mechanism with vertical guide-ways are investigated. Two novel performance indices, the critical slider stroke and the main section area of workspace, are defined; The expressions of two other indices, i.e.the global dexterity and global force transfer ratio are revised based on the main section of workspace.Using these indices, performance changes versus the varieties of dimensional parameters of mechanism are investigated in detail and the graphic descriptions of change tendencies of the performance indices are illustrated. By means of these obtained graphic descriptions, kinematic parameters for the 3-PUU pure translational parallel mechanism with better characteristics can be directly acquired.