KINEMATIC ANALYSIS AND PARAMETER OPTIMIZATION FOR A NOVEL 2(3HUS+S) PARALLEL HIP JOINT SIMULATOR

Xianlei Shan and Gang Cheng

Keywords

Hip joint simulator, 2(3HUS+S) parallel manipulator, workspaceanalysis, parameter optimization

Abstract

In this paper, a novel 2(3HUS+S) parallel hip joint simulator with two moving platforms was proposed. To ensure that the parallel hip joint simulator has a good motion performance, a structural parameter optimization model was established based on the kinematic, dynamic and orientation-workspace analysis. First, the inverse kinematics of the parallel hip joint simulator was analysed, and the overall dynamic model was established based on the principle of virtual work. Second, the workspace analysis of the parallel hip joint simulator was calculated, and the variations of the workspace boundary along with the structural parameters were obtained. Third, the structural parameter optimization model of the parallel hip joint simulator was derived by selecting the maximum velocity of the slider and the reciprocal of the Jacobian condition as the kinematics performance index and the maximum acceleration of the slider and the maximum driving torque of the motor as the dynamics performance index. Finally, numerical simulations of the optimization model were conducted. The results indicate that the overall performance of the parallel hip joint simulator is signi´Čücantly improved after the optimization.

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