Dynamics optimization of a novel high speed and high precision 3-DOF manipulator

摘要

After introducing a novel 3-DOF high speed and high precision manipulator which combines direct driven planar parallel mechanism and linear actuator, ways of increasing its stiffness are studied through dynamics simulation in ADAMS software environment. Design study is carried out by parametric analysis tools to analyze the approximate sensitivity of the design variables, including the effects of parameters of each beam cross section and relative position of linear actuator on model performance. Conclusions are drawn on the appropriate way of dynamics optimization to get a lightweight and small deformation manipulator. A planar parallel mechanism with different cross section is used to an improved manipulator. Results of dynamics simulation of the improved system and another unrefined one are compared . The stiffness of them is almost equal , but the mass of the improved one decreases greatly , which illustrates the ways efficient.