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Dimensional Synthesis for 3-prs mechanism Based on Identifiability Performance

Chinese Journal of Mechanical Engineering 2012年第2期25卷 234-240页

作者： HUANG Peng WANG Jinsong WANG Liping QIAN Jie Department of Petroleum Equipment Research Institute of Petroleum Exploration and DevelopmentBeijing 100083China Department of Precision Instruments and Mechanology Tsinghua UniversityBeijing 100084China

Many performance indices for parallel mechanism are put forward in the phase of dimensional synthesis,except for identifiability index,which determines the difficulty of kinematical *** the dimensional parameters are inappropriately selected,the existing methods for optimizing identifiability will not effectively ***,with the aim of studying identifiability optimization in dimensional synthesis for 3-prs mechanism,kinematics with structural errors is analyzed to provide theoretical bases for kinematical *** through a comparison of two 3-prs mechanisms with different dimensional parameters,identifiability performance is proved to be necessary and feasible for optimization in the phase of dimensional ***,an index δ is proposed to scale the identifiability *** the index,identifiability analysis and dimensional synthesis simulation in the whole workspace is *** index is verified to be correct and feasible,and based on the index,a procedure of dimensional synthesis,as well as an example set of non-dimensional parameters of 3-prs mechanism,is *** proposed identifiability index and design method can effectively introduce identifiability optimization into dimensional synthesis,and will obviously benefit later kinematical calibration.

关键词： 3-prs mechanism dimensional synthesis identifiability performance

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Error analysis and distribution of the driving mechanism for large spherical radio telescope active reflector

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High Technology Letters 2008年第1期14卷 1-5页

作者：黄鹏 Department of Precision Instruments and Mechanology Tsinghua UniversityBeijing 100084P.R.China)

In order to reduce the cost,3-prs mechanism is introduced into the application of supporting theactive reflector unit of large radio *** kinematic model of 3-prs mechanism with rotationaljoint errors is derived to solve the error problem in actual engineering *** based on the errormodel,inverse and forward kinematics are *** the solutions can not be analytically ex-pressed,a numerical method is ***,the parasitic motion errors are analyzed using searchmethod and empirical formulas of the maximum parasitic motion error are put ***,the toler-ance is distributed using empirical formulas to avoid interference between adjacent reflector *** provide a theoretical basis for the design and installation of large radio telescope active reflector.

关键词： large radio telescope 3-prs mechanism kinematics error analyses

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