In this paper, we present the optimal design of N-UU (U stands for universal joints) parallel mechanisms (PM) with general geometry, for the achievement of maximal singularity-free tilt angle. We first briefly recall the synthesis condition and constraint analysis of the general N-UU PM, showing that static singularities may be factorized into active and passive constraint singularities. We then formulate the optimal design problem as the maximization of the end-effector tilt angle subject to closeness to active and passive constraint singularities. We conclude the paper by illustrating how an angle-equalizing device on the inner revolute pairs of the UU legs may help avoiding passive constraint singularities and increasing the maximal tilt angle.

Wu, Y., Carricato, M. (2018). Optimal design of N-UU parallel mechanisms. Cham : Springer [10.1007/978-3-319-60867-9_45].

Optimal design of N-UU parallel mechanisms

Wu, Yuanqing;Carricato, Marco
2018

Abstract

In this paper, we present the optimal design of N-UU (U stands for universal joints) parallel mechanisms (PM) with general geometry, for the achievement of maximal singularity-free tilt angle. We first briefly recall the synthesis condition and constraint analysis of the general N-UU PM, showing that static singularities may be factorized into active and passive constraint singularities. We then formulate the optimal design problem as the maximization of the end-effector tilt angle subject to closeness to active and passive constraint singularities. We conclude the paper by illustrating how an angle-equalizing device on the inner revolute pairs of the UU legs may help avoiding passive constraint singularities and increasing the maximal tilt angle.
2018
Computational Kinematics, Proceedings of the 7th Int. Workshop on Computational Kinematics (CK 2017)
394
402
Wu, Y., Carricato, M. (2018). Optimal design of N-UU parallel mechanisms. Cham : Springer [10.1007/978-3-319-60867-9_45].
Wu, Yuanqing; Carricato, Marco
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/605875
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