Performance analysis and application of a redundantly actuated parallel manipulator for milling

被引：40
作者：
Wu, Jun [1 ]
Wang, Jinsong [1 ]
Li, Tiemin [1 ]
Wang, Liping [1 ]
机构：
[1] Tsinghua Univ, Dept Precis Instruments & Mechanol, Inst Mfg Engn, Beijing 100084, Peoples R China
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2007年 / 50卷 / 02期
基金：
中国国家自然科学基金;
关键词：
parallel manipulator; actuation redundancy; hybrid machine tool;
D O I：
10.1007/s10846-007-9159-4
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper deals with the performance analysis of a 3-degree-of-freedom (3-DOF) planar parallel manipulator with actuation redundancy. Closed-form solutions are developed for both the inverse and direct kinematics about the redundant parallel manipulator. In performance analysis phase, the dexterity is analyzed, three kinds of singularities are investigated, and the stiffness is estimated. Compared with the corresponding non-redundant parallel manipulator with the redundant link removed, the redundantly actuated one has better dexterity, litter singular configurations and higher stiffness. The redundantly actuated parallel manipulator was applied to the design of a 4-DOF hybrid machine tool which also includes a feed worktable to demonstrate its applicability.
引用
收藏
页码：163 / 180
页数：18
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