Dynamic formulation of a planar 3-DOF parallel manipulator with actuation redundancy

被引：35
作者：
Wang, Liping [1 ]
Wu, Jun [1 ]
Wang, Jinsong [1 ]
机构：
[1] Tsinghua Univ, Inst Mfg Engn, Dept Precis Instruments, Beijing 100084, Peoples R China
来源：
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2010年 / 26卷 / 01期
关键词：
Planar parallel manipulator; Actuation redundancy; Inverse dynamic model; MACHINE;
D O I：
10.1016/j.rcim.2009.03.001
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
In this paper, based on the conventional Newton-Euler approach, a simplification method is proposed to derive the dynamic formulation of a planar 3-DOF parallel manipulator with actuation redundancy. Closed-form solutions are developed for the inverse kinematics. Based on the kinematics the, Newton-Euler approach in simplification form is used to derive the inverse dynamic model of the redundant parallel manipulator. Then, the driving force optimization is performed by minimizing an objective function which is the square of the sum of four driving forces. The dynamic simulations are done for the parallel manipulator with both the redundant and non-redundant actuations The result. shows that the dynamic characteristics of the manipulator in the redundant case are better than that in the non-redundancy. The redundantly actuated parallel manipulator was incorporated into a 4-DOF hybrid machine tool which includes a feed worktable. (C) 2009 Elsevier Ltd. All rights reserved.
引用
收藏
页码：67 / 73
页数：7
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