The development of virtual conceptual design platform and the simulating verification of kinamatic properties for parallel manipulators (PM)

Author

Guo, Xuwei ; Hu, Shenghai ; Su, Ying

Author_Institution

Sch. of Mech. & Electr. Eng., Harbin Eng. Univ., Harbin

fYear

2008

fDate

5-8 Aug. 2008

Firstpage

1065

Lastpage

1070

Abstract

A design process of PM virtual conceptual design is put forward, and a design platform of PM virtual prototype is developed based on ADAMS; by analyzing topological structure and classifying the functional module of the existing PM, a modular component base are built. The management of component base and virtual assembly of PM are realized. A method to analyze kinematic properties of PM is introduced by taking screw theory as guidance and taking virtual prototype technology as verifying tool. With the method, DOFs of PM are vividly depicted, rationalities of actuation scheme are judged and configuration synthesis of PM is realized.

Keywords

CAD; manipulator kinematics; mechanical engineering computing; virtual prototyping; ADAMS; kinematic properties; multi-body dynamics analysis software; parallel manipulators; screw theory; virtual assembly; virtual conceptual design platform; virtual prototype technology; Analytical models; Assembly; Design automation; Fasteners; Kinematics; Mechatronics; Process design; Shape; Virtual environment; Virtual prototyping;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2008. ICMA 2008. IEEE International Conference on

Conference_Location

Takamatsu

Print_ISBN

978-1-4244-2631-7

Electronic_ISBN

978-1-4244-2632-4

Type

conf

DOI

10.1109/ICMA.2008.4798906

Filename

4798906