Optimal design of a linkage-cam mechanism-based redundantly actuated parallel manipulator

被引：0
作者：
Haiying Wen
Ming Cong
Weiliang Xu
Zhisheng Zhang
Min Dai
机构：
[1] Southeast University,School of Mechanical Engineering
[2] Dalian University of Technology,School of Mechanical Engineering
[3] The University of Auckland,Department of Mechanical Engineering
来源：
Frontiers of Mechanical Engineering | 2021年 / 16卷
关键词：
redundant actuation; parallel manipulator; linkage-cam mechanism; Jacobian; optimal design;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A redundantly actuated parallel manipulator (RAPM) with mixed translational and rotational degrees of freedom (DOFs) is challenged for its dimensionally homogeneous Jacobian modeling and optimal design of architecture. In this paper, a means to achieve redundant actuation by adding kinematic constraints is introduced, which reduces the DOFs of the end-effector (EE). A generic dimensionally homogeneous Jacobian is developed for this type of RAPMs, which maps the generalized velocities of three points on the EE to the joint velocities. A new optimization algorithm derived from this dimensionally homogeneous Jacobian is proposed for the optimal design of this type of RAPMs. As an example, this paper presents a spatial RAPM involving linkages and cam mechanisms. This RAPM has 4 DOFs and 6 translational actuations. The linkage lengths and the position of the universal joints of the RAPM are optimized based on the dimensionally homogeneous Jacobian.
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页码：451 / 467
页数：16
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