Abstract
A Gough-Stewart parallel manipulator using point decoupled design method is orthogonal only at a single point, which means that it has small high-precision workspace. It is hard to break through its’ restriction to be applied in the field of engineer applications with larger workspace. This paper formulates the problem to guarantee continuous orthogonality when the manipulator rotating along the z-axis, called rotation orthogonality. Compared to traditional optimum, the rotation orthogonality leads to better performances with enlarged workspace. A class of dynamically adjusting generalized Gough-Stewart parallel manipulators (DAGGSPM) is proposed. The dynamically adjusting mechanism for rotation orthogonality and the related algorithm are deduced analytically. Through analysis of three typical cases and numerical verifications, the results show that a DAGGSPM can pave the way for high-precision applications with large scale workspace including laser weapon pointing, scanning microscopes and integrated circuit fabrication.
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Acknowledgements
This research was supported by the Natural Science Foundation of China (Grant No. 51575121). The authors would like to thank the reviewers.
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Tong, Z., Chen, T., Peng, L., Jiang, H., He, F. (2017). Analysis for Rotation Orthogonality of a Dynamically Adjusting Generalized Gough-Stewart Parallel Manipulator. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_31
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DOI: https://doi.org/10.1007/978-3-319-65292-4_31
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