Novel design and analysis of a 3-DOF parallel kinematic manipulator with actuator redundancy

Dan Zhang; Jian Li; Zhen Gao; Feng Gao

doi:10.1109/WCICA.2011.5970657

Novel design and analysis of a 3-DOF parallel kinematic manipulator with actuator redundancy

Dan Zhang, Jian Li, Zhen Gao, Feng Gao

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

Abstract

This paper presents a unique 3-DOF micro-motion parallel kinematic manipulator (PKM) with actuation redundancy. The 3-DOF PKM has four identical linear-motion driving units and a passive link in the centre of the structure. The purpose of this passive link is to restrain the movement of the manipulator and to improve the stiffness of the structure. As a result, the PKM has one translation on the Z-axis and two rotations around the X and Y axes. The manipulator with actuator redundancy is designed to prevent singularity and to improve stiffness. In this paper, the inverse kinematic, Jacobian matrix and stiffness analysis have been conducted. Finally, the dynamic analysis has also been performed.

Original language	English
Title of host publication	WCICA 2011 - 2011 World Congress on Intelligent Control and Automation, Conference Digest
Pages	953-958
Number of pages	6
DOIs	https://doi.org/10.1109/WCICA.2011.5970657
Publication status	Published - 2011
Externally published	Yes
Event	2011 World Congress on Intelligent Control and Automation, WCICA 2011 - Taipei, Taiwan Duration: 21 Jun 2011 → 25 Jun 2011

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

Conference

Conference	2011 World Congress on Intelligent Control and Automation, WCICA 2011
Country/Territory	Taiwan
City	Taipei
Period	21/06/11 → 25/06/11

Keywords

Actuation redundancy
Dynamics simulation
Parallel kinematic manipulator
Stiffness mapping

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications

More information

10.1109/WCICA.2011.5970657

Cite this

Zhang, D., Li, J., Gao, Z., & Gao, F. (2011). Novel design and analysis of a 3-DOF parallel kinematic manipulator with actuator redundancy. In WCICA 2011 - 2011 World Congress on Intelligent Control and Automation, Conference Digest (pp. 953-958). Article 5970657 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)). https://doi.org/10.1109/WCICA.2011.5970657

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title = "Novel design and analysis of a 3-DOF parallel kinematic manipulator with actuator redundancy",

abstract = "This paper presents a unique 3-DOF micro-motion parallel kinematic manipulator (PKM) with actuation redundancy. The 3-DOF PKM has four identical linear-motion driving units and a passive link in the centre of the structure. The purpose of this passive link is to restrain the movement of the manipulator and to improve the stiffness of the structure. As a result, the PKM has one translation on the Z-axis and two rotations around the X and Y axes. The manipulator with actuator redundancy is designed to prevent singularity and to improve stiffness. In this paper, the inverse kinematic, Jacobian matrix and stiffness analysis have been conducted. Finally, the dynamic analysis has also been performed.",

keywords = "Actuation redundancy, Dynamics simulation, Parallel kinematic manipulator, Stiffness mapping",

author = "Dan Zhang and Jian Li and Zhen Gao and Feng Gao",

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language = "English",

isbn = "9781612847009",

series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

pages = "953--958",

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note = "2011 World Congress on Intelligent Control and Automation, WCICA 2011 ; Conference date: 21-06-2011 Through 25-06-2011",

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Zhang, D, Li, J, Gao, Z & Gao, F 2011, Novel design and analysis of a 3-DOF parallel kinematic manipulator with actuator redundancy. in WCICA 2011 - 2011 World Congress on Intelligent Control and Automation, Conference Digest., 5970657, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), pp. 953-958, 2011 World Congress on Intelligent Control and Automation, WCICA 2011, Taipei, Taiwan, 21/06/11. https://doi.org/10.1109/WCICA.2011.5970657

Novel design and analysis of a 3-DOF parallel kinematic manipulator with actuator redundancy. / Zhang, Dan; Li, Jian; Gao, Zhen et al.
WCICA 2011 - 2011 World Congress on Intelligent Control and Automation, Conference Digest. 2011. p. 953-958 5970657 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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AB - This paper presents a unique 3-DOF micro-motion parallel kinematic manipulator (PKM) with actuation redundancy. The 3-DOF PKM has four identical linear-motion driving units and a passive link in the centre of the structure. The purpose of this passive link is to restrain the movement of the manipulator and to improve the stiffness of the structure. As a result, the PKM has one translation on the Z-axis and two rotations around the X and Y axes. The manipulator with actuator redundancy is designed to prevent singularity and to improve stiffness. In this paper, the inverse kinematic, Jacobian matrix and stiffness analysis have been conducted. Finally, the dynamic analysis has also been performed.

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Novel design and analysis of a 3-DOF parallel kinematic manipulator with actuator redundancy

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Keywords

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