| 标 题： |
3D3A class of parallel mechanisms: Design and performance evaluation
3D3A类并联机构：设计与性能评估 |
| 作 者： |
Yilmaz, Savas
Kucuk, Serdar
Toz, MetinYilmaz, Savas
Kucuk, Serdar
Toz, Metin |
| 关键词： |
Parallel manipulator [并联机械手]
Six-DoF [六自由度]
Reachable workspace [可及的工作区]
Generalized stewart [广义斯图尔特]
platform mechanism [平台机制] |
| 出版年： |
2025 |
| 期刊名： |
Robotics and Autonomous Systems.
《机器人学和自控系统》 |
| 年卷期： |
|
| 摘 要： |
This paper presents a study of 20 six-degrees-of-freedom (DoF) Generalized Stewart-Gough Platform (GSP) type mechanisms in 3D3A class. These mechanisms are characterized by three distance and three angular constraints between their base platforms (BPs) and moving platforms (MPs). The mechanisms are categorized into two groups based on the geometric shapes of their BPs and MPs. The platform shapes are determined by the types of joints and their connection configurations on the platforms. The platforms are designed with regular polygonal shapes. Two groups are generated according to whether the geometric shapes of the platforms are the same or different. There are 10 types of mechanisms in the first group, where the BP and the MP shapes of each are the same. The second group also includes 10 types of mechanisms, each with two design variations, resulting in 20 designs. Thus, a total of 30 mechanisms are designed. The reachable workspaces and dexterities of these manipulators are computed to assess the impact of design parameters such as the ratio between the BP and MP radii and the rotation of one end of the BP edges. The reachable workspace volume and the Global Conditioning Index (GCI) are selected as the performance metrics. The results of all mechanisms are presented in the paper, with a comparison of the two best mechanisms against the classical 3x3 Stewart Platform. The study shows that the D34 A31 type mechanism achieves a large reachable workspace while maintaining a high GCI value.
本文研究了20种三维六自由度（6-DoF）广义斯图尔特-古夫平台（GSP）型机构，这些机构属于3D3A类。其特征在于底座平台（BP）与移动平台（MP）之间存在三个距离约束和三个角度约束。根据底座平台与移动平台的几何形状，这些机构被分为两组。平台的形状由各平台上的关节类型及其连接方式决定，且平台设计为规则多边形。根据平台几何形状是否相同，将两组机构划分为两类。第一组包含10种机构，其中每种机构的底座平台与移动平台形状相同；第二组同样包含10种机构，每种机构有两种设计变体，共产生20种设计方案。因此，总共设计了30种机构。通过计算这些机械手的可达工作空间和灵巧性，评估了底座平台与移动平台半径之比以及底座边缘一端旋转角度等设计参数的影响。可及工作空间体积和全球条件指数（GCI）被选为性能指标。论文中展示了所有机构的结果，并对两种最佳机构与经典3x3斯图尔特平台进行了比较。研究表明，D34 A31型机构在保持较高GCI值的同时，实现了较大的可及工作空间。 |
| 中文内容为网络AI翻译，专业术语未必准确，仅供参考。 |
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