Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy

被引：19
|
作者：
Qu, Haibo [1 ]
Guo, Sheng [1 ]
机构：
[1] Beijing Jiaotong Univ, Inst Robot, Sch Mech Elect & Control Engn, Beijing 100044, Peoples R China
来源：
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | 2017年 / 31卷 / 04期
基金：
中国国家自然科学基金;
关键词：
Planar parallel manipulator; Kinematic redundancy; DOF; RDOF; Displacement distribution; ACTUATION REDUNDANCY; SINGULARITY ANALYSIS; POSE ACCURACY; MECHANISMS; MOBILITY; ROBOTS;
D O I：
10.1007/s12206-017-0341-8
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, a novel planar parallel manipulator with kinematic redundancy is proposed. First, the Degrees of freedom (DOF) of the whole parallel manipulator and the Relative DOF (RDOF) between the moving platform and fixed base are studied. The results indicate that the proposed mechanism is kinematically redundant. Then, the kinematics, Jacobian matrices and workspace of this proposed parallel manipulator with kinematic redundancy are analyzed. Finally, the statics simulation of the proposed parallel manipulator is performed. The obtained stress and displacement distribution can be used to determine the easily destroyed place in the mechanism configurations.
引用
收藏
页码：1927 / 1935
页数：9
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