Static full-solutions of spherical 2-DOF parallel manipulator with actuation redundancy

被引：3

作者：

Li Y. ^{[1
]}

Zhang L. ^{[1
]}

Guo F. ^{[1
]}

Guo Z. ^{[1
]}

机构：

[1] School of Mechanical Engineering, Yanshan University

来源：

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2011年 / 47卷 / 19期

关键词：

Deformation equation of compatibility; Force optimization; Spherical manipulator; Statics; Two degrees of freedom (2-DOF);

D O I：

10.3901/JME.2011.19.022

中图分类号：

学科分类号：

摘要：

The research subject is spherical 2-DOF parallel manipulator with actuation redundancy. Considering the elasticity of the bar, via the traditional dismantle-bar method, the static equilibrium equations of the mechanism are established, calculating the deformation of the bar by integral method, and then utilizing the micro-deformation and superposition principle, the deformation equations of compatibility are derived, 42 equations are obtained, but there are 43 unknown parameters in all because of redundant mechanism. So static full-solutions of the manipulator are obtained via input forces optimization method. By numerical example, under the action of external load, drawing the output P-shaft's force diagram which is along the given trajectory. The research provides the theoretical basis of statics for structure design and application of the manipulator in engineering. © 2011 Journal of Mechanical Engineering.

引用

页码：22 / 29

页数：7

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