Workspace and dynamic performance evaluation of the parallel manipulators in a spray-painting equipment

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• 作者：Jun Wu^a ; ^b ; ; Ying Gao^a ; ^b ; Binbin Zhang^a ; ^b ; Liping Wang^a ; ^b
• 关键词：Parallel manipulator ; Painting equipment ; Workspace ; Dynamic model ; Performance evaluation
• 刊名：Robotics and Computer-Integrated Manufacturing
• 出版年：2017
• 出版时间：April 2017
• 年：2017
• 卷：44
• 期：Complete
• 页码：199-207
• 全文大小：2164 K
• 卷排序：44

文摘

Four working modes are analyzed and the optimal mode for painting a long rocket fairing with conical surface is determined. Dynamic performance indices are designed on the basis of acceleration vector of the moving platform produced by a unit actuated force. The index not only can evaluate the accelerating performance, but also can reflect the isotropy of accelerating performance.