Dynamic performance comparison of the 8PSS redundant parallel manipulator and its non-redundant counterpart-the 6PSS parallel manipulator

被引：58
|
作者：
Zhao, Yongjie [1 ]
Gao, Feng [1 ]
机构：
[1] Shanghai Jiao Tong Univ, State Key Lab Mech Syst & Vibrat, Shanghai 200240, Peoples R China
来源：
MECHANISM AND MACHINE THEORY | 2009年 / 44卷 / 05期
基金：
中国国家自然科学基金; 中国博士后科学基金;
关键词：
Dynamic performance evaluation; Redundant parallel manipulator; Rigid dynamics; Comparison; Kinematics; Performance index; DESIGN;
D O I：
10.1016/j.mechmachtheory.2008.05.015
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents the dynamic performance comparison of the 8PSS redundant parallel manipulator and the 6PSS parallel manipulator. A series of kinematics and rigid dynamics performance indices with obvious physical meanings have been adopted to compare the performance of the 8PSS redundant parallel manipulator and that of the 6PSS parallel manipulator. It is turned out that their kinematics characteristics are equivalent while the dynamic performance of the 8PSS redundant parallel manipulator is better than that of the 6PSS parallel manipulator. (C) 2008 Elsevier Ltd. All rights reserved.
引用
收藏
页码：991 / 1008
页数：18
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