Optimal design of a 2-DOF parallel manipulator with actuation redundancy considering kinematics and natural frequency

被引：59
|
作者：
Wu, Jun [1 ]
Chen, Xiaomeng [1 ]
Li, Tiemin [1 ]
Wang, Liping [1 ]
机构：
[1] Tsinghua Univ, Dept Precis Instruments & Mechanol, State Key Lab Tribol & Inst Mfg Engn, Beijing 100084, Peoples R China
来源：
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2013年 / 29卷 / 01期
关键词：
Parallel manipulator; Actuation redundancy; Natural frequency; Optimal design; Dynamic model; MECHANISM;
D O I：
10.1016/j.rcim.2012.07.005
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
In this paper, a planar 2-DOF parallel manipulator with actuation redundancy is proposed and the optimal design considering kinematics and natural frequency is presented. The stiffness matrix and mass matrix are derived, and the structural dynamics is modeled. The natural frequency is obtained on the basis of dynamic model. Based on the kinematic performance, the range for link length is given. Then, considering the natural frequency, the geometry is optimized. The natural frequency is simulated and compared with the corresponding non-redundant parallel manipulator. The designed redundant parallel manipulator has desired kinematic performance and natural frequency and is incorporated into a 4-DOF hybrid machine tool. (c) 2012 Elsevier Ltd. All rights reserved.
引用
收藏
页码：80 / 85
页数：6
相关论文
共 50 条
  • [1] Parameter Optimum Design of Spherical 2-DOF Parallel manipulator with Actuation Redundancy
    Zhang, Li-Jie
    Li, Yong-Quan
    Shi, Wen-Ya
    2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS, 2009, : 1499 - 1504
  • [2] Analysis of performances of planar 2-DOF parallel manipulator with actuation redundancy
    Zhang, Lijie
    Liu, Ying
    Huang, Zhen
    Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, 2006, 42 (07): : 181 - 185
  • [3] Analysis of the workspace of spherical 2-DOF parallel manipulator with actuation redundancy
    Zhang, Li-Jie
    Niu, Yue-Wei
    Huang, Zhen
    IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2006, : 153 - +
  • [4] Optimum design of 2-DOF parallel manipulators with actuation redundancy
    Zhu, Zhuangsheng
    Dou, Runliang
    MECHATRONICS, 2009, 19 (05) : 761 - 766
  • [5] Trajectory planning research of spherical 2-DOF parallel manipulator with actuation redundancy
    Li, Yong Quan
    Zhang, Li Jie
    Liu, Ying
    ADVANCED DESIGN TECHNOLOGY, PTS 1-3, 2011, 308-310 : 2068 - +
  • [6] Analysis of the workspace and singularity of planar 2-DOF parallel manipulator with actuation redundancy
    Zhang, Li-Jie
    Li, Yong-Quan
    Huang, Zhen
    IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2006, : 171 - +
  • [7] OPTIMAL CALIBRATION AND IDENTIFICATION OF A 2-DOF PARALLEL MANIPULATOR WITH REDUNDANT ACTUATION
    Shang, Weiwei
    Cong, Shuang
    INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2015, 30 (05): : 491 - 502
  • [8] Static full-solutions of spherical 2-DOF parallel manipulator with actuation redundancy
    Li Y.
    Zhang L.
    Guo F.
    Guo Z.
    Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2011, 47 (19): : 22 - 29
  • [9] Optimal Kinematic Design of a 2-DOF Planar Parallel Manipulator
    吴军
    李铁民
    刘辛军
    王立平
    TsinghuaScienceandTechnology, 2007, (03) : 269 - 275
  • [10] Optimal Kinematic Design of a 2-DOF Planar Parallel Manipulator
    Zhu, Xiaorong
    Shen, Huiping
    Zhu, Wei
    FRONTIERS OF MANUFACTURING AND DESIGN SCIENCE, PTS 1-4, 2011, 44-47 : 1843 - 1847
12345