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Dynamic Manipulability and Optimization of a Two DOF Parallel Mechanism
CHINESEJOURNAL OFM ECHANICALENGINEERING
Vo1．23，No．4，2010 ·403 ·
DOI：10．3901C／JME．2010．04．403．availableonlineatwww．cjmenet．com；www．cjmenet．corn．cn
DynamicM anipulabilityandOptimizationofaTwoDOFParallelM echanism
SHAOHua ，WANGJinsong，WANGLiping，andGUAN Liwen
DepartmentofPrecisionInstrumentandMechanology,TsinghuaUniversity,Bejiing100084，China
ReceivedSeptember28，2009；revisedApril26，2010；acceptedApril29，2010；publishedelectronicallyAugust20，2010
Abstract：Thedynamicdexterity isanimportantissueformanipulatordesign，someindiceswereproposedforanalyzingdynamic
dexterity，buttheycanevaluatethedynamicperformancejustatoneposeintheworkspaceofthemanipulator，andcan’tbeappliedto
dynamicdesing expediently．Muchworkhasbeendoneinthekinematicoptimization，buttheworkinthedynamicoptimizationismuch
less．A globaldynamicconditionnumberindexisproposedandappliedtothedynamicoptimizationdesigntheparallelmanipulator．
Thispaperdealswiththedynamicmanipulabiliytanddynamicoptimizationofatwodegree—of-freedom (DOF)paralM manipulator．
Theparticularvelociytandparticularangularvelociytmatricesofeachmovingpartaboutthepart’spivotpointarederivedfrom the
kinematicformulationofthemanipulator，andtheinertialforceandinertialmovementareobtainedutilizingNewton—Eulerformulation，
thentheinversedynamicmodeloftheparallelmanipulatorisproposedbasedonthevirtualworkprinciple．Thegeneralinertialellipsoid
anddynamicmanipulabiliyt ellipsoidareappliedtoevaluatethedynamicperfomr anceofthemanipulator，aglobaldynamiccondition
numberindexbasedontheconditionnumberofgeneralinertialmatrixintheworkspaceisproposed，andthenthelinklengthsofthe
manipulatorisredesignedtooptimizethedynamicmanipulabiliyt bythisindex．Thedynamicmanipulabiliyt oftheoriginmechanism
andtheoptimizedmechanism arecompared，theresultshowsthattheoptimizedonei
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