PERFORMANCE MAPPING AND MOTION SIMULATION OF A 4UPS+PU REDUNDANTLY ACTUATED PARALLEL MANIPULATOR

被引：0
|
作者：
Gao, Zhen [1 ]
Zhang, Dan [1 ]
机构：
[1] Univ Ontario, Inst Technol, Fac Engn & Appl Sci, Oshawa, ON L1H 7K4, Canada
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE 2010, VOL 2, PTS A AND B | 2010年
关键词：
DESIGN; ROBOT;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, a new 4UPS+PU redundantly actuated parallel manipulator is proposed. This mechanism possesses three degrees of freedom (DOF), one translation and two rotations. Different from general parallel manipulators, a passive leg is connected to both centers of the base and the moving platform to constrain the unwanted motion. The mobility study and inverse kinematic analysis are conducted. The reachable workspace is generated with boundary-searching based discretization method. The local and global performance indices including stiffness and dexterity and their atlas are investigated in details. Comprehensive simulation of kinematics, dynamics and proportional-integral-derivative (PID) position control are implemented based on Adams to evaluate and testify the high operational capacity and well motion characteristics.
引用
收藏
页码：791 / 800
页数：10
相关论文
共 50 条
  • [1] Performance Analysis and Application of a Redundantly Actuated Parallel Manipulator for Milling
    Jun Wu
    Jinsong Wang
    Tiemin Li
    Liping Wang
    [J]. Journal of Intelligent and Robotic Systems, 2007, 50 : 163 - 180
  • [2] Performance analysis and application of a redundantly actuated parallel manipulator for milling
    Wu, Jun
    Wang, Jinsong
    Li, Tiemin
    Wang, Liping
    [J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2007, 50 (02) : 163 - 180
  • [3] Dynamic Identification of a Redundantly Actuated Parallel Manipulator
    Shang, Weiwei
    Cong, Shuang
    [J]. 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4, 2009, : 1756 - 1761
  • [4] Dynamics Performance Optimization for Redundantly Actuated Parallel Manipulator with Constraint Branch
    Liu X.
    Tang Y.
    Liu X.
    Li Q.
    Zhao Y.
    [J]. Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery, 2021, 52 (05): : 378 - 385and403
  • [5] Kinematic performance analysis of redundantly actuated 4-UP_S&UP parallel manipulator
    Dong C.
    Liu H.
    Huang T.
    [J]. Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2016, 52 (05): : 124 - 129
  • [6] Singular Configurations Analysis of a Redundantly Actuated Parallel Manipulator
    Gong, Jinliang
    Pang, Jinxiang
    Zhang, Yanfei
    [J]. INDUSTRIAL ENGINEERING AND APPLIED RESEARCH, 2014, 620 : 75 - 79
  • [7] Dynamic Performance Evaluation of a Redundantly Actuated and Over-constrained Parallel Manipulator
    Zhang, Hai-Qiang
    Fang, Hai-Rong
    Jiang, Bing-Shan
    Wang, Shuai-Guo
    [J]. INTERNATIONAL JOURNAL OF AUTOMATION AND COMPUTING, 2019, 16 (03) : 274 - 285
  • [8] Dynamic Performance Evaluation of a Redundantly Actuated and Over-constrained Parallel Manipulator
    Hai-Qiang Zhang
    Hai-Rong Fang
    Bing-Shan Jiang
    Shuai-Guo Wang
    [J]. International Journal of Automation and Computing, 2019, 16 : 274 - 285
  • [9] Dynamic Performance Evaluation of a Redundantly Actuated and Over-constrained Parallel Manipulator
    Hai-Qiang Zhang
    Hai-Rong Fang
    Bing-Shan Jiang
    Shuai-Guo Wang
    [J]. Machine Intelligence Research, 2019, 16 (03) : 274 - 285
  • [10] Investigation on Driving Characteristics of a Z4 Redundantly Actuated Parallel Manipulator
    Zhang, Jun
    Wu, Chengyang
    Fang, Hanliang
    Sun, Zaichao
    Wang, Kailong
    Tang, Tengfei
    [J]. Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2024, 60 (07): : 66 - 78
12345