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A Dimensional Design Problem of a Parallel Manipulator for the Space Docking Test System According to a Prescribed Workspace and Performance Indices

[+] Author Affiliations
Rui Cao, Feng Gao, Yong Zhang

Shanghai Jiao Tong University, Shanghai, China

Paper No. DETC2014-34210, pp. V05AT08A050; 8 pages
doi:10.1115/DETC2014-34210
From:
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME

abstract

This paper introduces a new 6DOF parallel manipulator with a ‘3-3’-PSS structure for the space docking test system. The objective of the paper is to present a design method for determine the geometrical parameters of the 6-DOF manipulator according to a prescribed workspace and required performances. By the study of the relationships between the geometrical parameters and the performance indices of the manipulator, a new method is presented for finding all the appropriate parameters on the contour maps of the performance indices. With this method, the smallest manipulator whose workspace involves the prescribed workspace and whose performances fit the requirements could be found.

Copyright © 2014 by ASME
Topics: Design , Manipulators

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