Workspace analysis and size optimization of planar 3-DOF redundantly actuated parallel mechanism

被引：0
作者：
Jing Zhang
Dongbao Wang
Ziming Song
Hongwei Guo
Rongqiang Liu
Ziming Kou
机构：
[1] Yanshan University,College of Mechanical Engineering
[2] Yanshan University,Hebei Light Structural Equipment Design and Manufacturing Technology Innovation Center
[3] National-local Joint Engineering Laboratory of Mining Fluid Control,School of Automation
[4] Xi’an University of Posts & Telecommunications,School of Mechatronics Engineering
[5] Harbin Institute of Technology,undefined
来源：
Journal of Mechanical Science and Technology | 2024年 / 38卷
关键词：
Parallel mechanism; Redundant actuation; Workspace analysis; Size optimization;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
Parallel mechanism is widely used due to its high stiffness, strong bearing capacity, small accumulated error, and good dynamic performance. In this paper, a planar three-degree-of-freedom (3-DOF) redundantly actuated parallel mechanism is proposed. Firstly, the position constraint equation is investigated and the inverse position solution is derived. The center velocity mapping model of the moving platform is established and the Jacobian matrix of the mechanism is obtained. The theoretical model based on Mathematica and the simulation model based on ADAMS are compared to validate the correctness of the theoretical results, and the peak deviation of the results is within 5 %. Then, the constraint conditions are conducted, and the workspace of the mechanism is solved by numerical method. Finally, the influence relationship curves of rod parameters on the proportion of workspace are obtained respectively. And the size parameters are optimized to carry out a comparative analysis of the workspace.
引用
收藏
页码：957 / 967
页数：10
相关论文
共 82 条
[1]  
Wang X W(2019)Research on obstacle avoidance strategy for welding robot J. of Mechanical Engineering 55 77-84
[2]  
Tang B(2020)Design of dexterous hands based on parallel finger structures Mechanism and Machine Theory 152 103952-458
[3]  
Gu X S(2022)Design and performance optimization of 3-DOF translational parallel mechanism with hinged end structure Transactions of the Chinese Society for Agricultural Machinery 53 446-430
[4]  
Jin X D(2008)Geometry, and kinematic analysis of a redundantly actuated parallel mechanism that eliminates singularities and improves dexterity Journal of Mechanical Design 130 124501-902
[5]  
Fang Y(2020)Redundant rehabilitation robot with a variable stiffness mechanism Mechanism and Machine Theory 150 103862-24
[6]  
Zhang D(2021)Performance analysis and optimization of redundantly actuated three translational parallel mechanism Transactions of the Chinese Society for Agricultural Machinery 52 421-105
[7]  
Liang D(1997)A new 3-DOF parallel spatial mechanism Mechanism and Machine Theory 32 895-450
[8]  
Liu J(2022)Flexible gait transition for six wheel-legged robot with unstructured terrains Robotics and Autonomous Systems 150 103989-930
[9]  
Chang B Y(2021)Towards hybrid gait obstacle avoidance for a six wheel-legged robot with payload transportation Journal of Intelligent & Robotic Systems 102 60-371
[10]  
Jin G G(1996)Redundant parallel manipulators Laboratory Robotics and Automation 8 17-27
123456789