TY - GEN
T1 - Kinematic performance analysis of a novel redundantly actuated parallel mechanism
AU - Zhang, Haiqiang
AU - Fang, Hairong
AU - Zhang, Dan
AU - Jiang, Bingshan
AU - Zou, Qi
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - This paper presents a novel redundantly actuated parallel mechanism with two rotations and one translation degrees of freedom. Firstly, the kinematic inverse position and the parasitic motion of the parallel mechanism are explicitly expressed. Secondly, the Jacobian matrix of parallel mechanism is derived intuitively via an alternative approach based on the screw theory with consideration the relationships between actuations and constraints. Furthermore, The Jacobian matrix of the cable-driven mechanism is acquired. In combination with the relation, a dimensionally homogeneous Jacobian matrix of the redundantly actuated parallel mechanism is formulated. And more importantly, kinematic performance evaluation indices are established on a case-by-case basis. By numerical examples, performance indices on the kinematic dexterity and stiffness are tremendously improved. The corresponding results illustrate that the proposed parallel mechanism has better kinematic dexterity and superior stiffness performance than the non-redundant parallel mechanism, which proves the validity for applying this redundantly actuated parallel mechanism.
AB - This paper presents a novel redundantly actuated parallel mechanism with two rotations and one translation degrees of freedom. Firstly, the kinematic inverse position and the parasitic motion of the parallel mechanism are explicitly expressed. Secondly, the Jacobian matrix of parallel mechanism is derived intuitively via an alternative approach based on the screw theory with consideration the relationships between actuations and constraints. Furthermore, The Jacobian matrix of the cable-driven mechanism is acquired. In combination with the relation, a dimensionally homogeneous Jacobian matrix of the redundantly actuated parallel mechanism is formulated. And more importantly, kinematic performance evaluation indices are established on a case-by-case basis. By numerical examples, performance indices on the kinematic dexterity and stiffness are tremendously improved. The corresponding results illustrate that the proposed parallel mechanism has better kinematic dexterity and superior stiffness performance than the non-redundant parallel mechanism, which proves the validity for applying this redundantly actuated parallel mechanism.
UR - http://www.scopus.com/inward/record.url?scp=85074294771&partnerID=8YFLogxK
U2 - 10.1109/AIM.2019.8868353
DO - 10.1109/AIM.2019.8868353
M3 - Conference article published in proceeding or book
AN - SCOPUS:85074294771
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 301
EP - 306
BT - Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
Y2 - 8 July 2019 through 12 July 2019
ER -