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
相关论文
共 50 条
  • [21] PRRRRRP redundant planar parallel manipulator: Kinematics, workspace and singularity analysis
    Zarkandi, Soheil
    Vafadar, Ana
    Esmaili, Mohammad Reza
    [J]. IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings, 2011, : 61 - 66
  • [22] On singularity of a planar parallel manipulator with and without actuation redundancy
    Liu, Xin
    Qiu, Yuanying
    Sheng, Ying
    [J]. 2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, 2007, : 1828 - 1833
  • [23] Optimal forward kinematics map for a parallel manipulator with sensor redundancy
    Yiu, YK
    Li, Z
    [J]. 2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS, 2003, : 354 - 359
  • [24] Workspace analysis of the 4RRR planar parallel manipulator with actuation redundancy
    Xu B.
    Li T.
    Liu X.
    Wu J.
    [J]. Tsinghua Science and Technology, 2010, 15 (05) : 509 - 516
  • [25] Workspace Analysis of the 4RRR Planar Parallel Manipulator with Actuation Redundancy
    徐博强
    李铁民
    刘辛军
    吴军
    [J]. Tsinghua Science and Technology, 2010, 15 (05) : 509 - 516
  • [26] Analysis of performances of planar 2-DOF parallel manipulator with actuation redundancy
    Zhang, Lijie
    Liu, Ying
    Huang, Zhen
    [J]. Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, 2006, 42 (07): : 181 - 185
  • [27] The Impact of Kinematic Redundancies on the Conditioning of a Planar Parallel Manipulator
    Fontes, Joao Vitor C.
    Vieira, Hiparco L.
    da Silva, Maira M.
    [J]. COMPUTATIONAL KINEMATICS, 2018, 50 : 449 - 456
  • [28] A planar quaternion approach to the kinematic synthesis of a parallel manipulator
    Murray, AP
    Pierrot, F
    Dauchez, P
    McCarthy, JM
    [J]. ROBOTICA, 1997, 15 : 361 - 365
  • [29] Planar quaternion approach to the kinematic synthesis of a parallel manipulator
    Murray, Andrew P.
    Pierrot, Francois
    Dauchez, Pierre
    McCarthy, J.Michael
    [J]. Robotica, 1997, 15 (04): : 361 - 365
  • [30] Kinematics of a star-triangle planar parallel manipulator
    Department of Mechanical Engineering, Babol University of Technology, P.O. Box 484, Babol, Iran
    [J]. J. Mech. Sci. Technol., SUPPL 1 (3223-3230):
12345