Workspace analysis of the 4RRR planar parallel manipulator with actuation redundancy

被引：13

作者：

Xu B. ^{[1
]}

Li T. ^{[1
]}

Liu X. ^{[1
]}

Wu J. ^{[1
]}

机构：

[1] Department of Precision Instruments and Mechanology, Tsinghua University

来源：

Tsinghua Science and Technology | 2010年 / 15卷 / 05期

基金：

中国国家自然科学基金;

关键词：

4RRR parallel manipulator; actuation redundancy; singularity; workspace;

D O I：

10.1016/S1007-0214(10)70094-8

中图分类号：

学科分类号：

摘要：

In order to overcome the drawbacks of 3RRR non-redundant parallel manipulators, a redundantly actuated planar parallel manipulator, the 4RRR manipulator, was examined. In the current study, three types of workspace were analyzed. In the analysis of the reachable workspace, the shape of the workspace of 4RRR PMs was illustrated, and the relationship between the parameters of parallel mechanisms (PMs) and this kind of workspace was discussed. In the analysis of the m-orientation workspace, a procedure for calculating this type of workspace was presented, and the relationship between this type of workspace and the requirement of rotational displacement was revealed. In the analysis of the nonsingular workspace, the singularity of 4RRR PMs was discussed, the boundary of the singularity was illustrated, and a scheme to maximize the nonsingular workspace was presented. Depicting the properties of 4RRR PMs from different perspectives, the analyses of these three kinds of workspace can serve as helpful references for the structure design and mechanism control of 4RRR PMs. © 2010 Tsinghua University Press.

引用

页码：509 / 516

页数：7

共 14 条

[1]

Zhang C., Zhao H., Optimum design of a 3RRR parallel manipulator, Mechanical Engineering and Automation, 4, pp. 92-93, (2006)

[2]

Octomo D., Hwee C.L., Alici G., Et al., Direct kinematics and analytical solution to 3RRR parallel planar mechanisms, Proceedings of the IEEE International Conference on Control, Automation, Robotics and Vision, pp. 1-6, (2006)

[3]

Kotlarski J., Abdellatif H., Heimann B., Improving the pose accuracy of a planar 3RRR parallel manipulator using kinematic redundancy and optimized switching patterns, Proceedings of the IEEE Electronics, Robotics and Automotive Mechanics Conference, pp. 3863-3868, (2008)

[4]

Valdez R.Y., Sanchez E.M., Torres M.R., Et al., Methodology for calculating the resolution of a planar parallel mechanism, Proceedings of the IEEE Electronics, Robotics and Automotive Mechanics Conference, pp. 467-471, (2008)

[5]

Ebrahimi I., Carretero J.A., Boudreau R., 3-PRRR redundant planar parallel manipulator: Inverse displacement, workspace and singularity analyses, Mechanism and Machine Theory, 42, 8, pp. 1007-1016, (2007)

[6]

Kock S., Parallelroboter Mit Antriebsredundanz [Dissertation], (2001)

[7]

Kotlarski J., Abdellatif H., Heimann B., On singularity avoidance and workspace enlargement of planar parallel manipulators using kinematic redundancy, Proceedings of the 13th IASTED International Conference on Robotics and Applications, pp. 451-456, (2007)

[8]

Muller A., Alalem H., Goal-oriented resolution of the actuator redundancy in parallel manipulators, Proceedings of the IEEE AFRICON Conference, pp. 1-7, (2007)

[9]

Ropponen T., Nakamura Y., Singularity-free parameterization and performance analysis of actuation redundancy, Proceedings of the IEEE International Conference on Robotics Automation, 2, pp. 806-811

[10]

Yi B.J., Freeman R.A., Tesar D., Open-loop stiffness control of over-constrained mechanisms/robot linkage systems, Proceedings of the IEEE International Conference on Robotics Automation, pp. 1340-1345, (1989)

← 1 2 →