Kinematics and Workspace Analysis of a New Type of 3-DOF Redundant Parallel Mechanism

Xiaoru Li; Juan Huang; Xinghui Li

doi:10.16578/j.issn.1004.2539.2019.07.023

您当前的位置：

首页 >

文章列表页 >

Kinematics and Workspace Analysis of a New Type of 3-DOF Redundant Parallel Mechanism

Test·Analysis | 更新时间：2022-09-24

- Kinematics and Workspace Analysis of a New Type of 3-DOF Redundant Parallel Mechanism
- Journal of Mechanical Transmission Vol. 43, Issue 7, Pages: 130-135(2019)
- 作者机构：
  
  1.四川工程职业技术学院机电工程系，四川德阳 618000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.07.023
  CLC：
扫描看全文
李小汝,黄娟,李兴慧.新型3-DOF冗余并联机构运动学和工作空间分析[J].机械传动,2019,43(07):130-135.

Li Xiaoru,Huang Juan,Li Xinghui.Kinematics and Workspace Analysis of a New Type of 3-DOF Redundant Parallel Mechanism[J].Journal of Mechanical Transmission,2019,43(07):130-135.
李小汝,黄娟,李兴慧.新型3-DOF冗余并联机构运动学和工作空间分析[J].机械传动,2019,43(07):130-135. DOI： 10.16578/j.issn.1004.2539.2019.07.023.

Li Xiaoru,Huang Juan,Li Xinghui.Kinematics and Workspace Analysis of a New Type of 3-DOF Redundant Parallel Mechanism[J].Journal of Mechanical Transmission,2019,43(07):130-135. DOI： 10.16578/j.issn.1004.2539.2019.07.023.

摘要

因具备更高刚度、更好动力学性能等特点，冗余驱动并联机构越来越多地应用于各行业中。提出一种支链为双滑块结构的3-DOF冗余并联机构，基于位置正、反解分别推导了机构的运动学方程，并结合反解方程和MATLAB对机构进行运动学仿真，绘制了驱动位移、速度曲线；结合运动学分析结果与正解方程对机构工作空间进行分析，绘制了机构三维工作空间；运动学、工作空间分析结果表明，机构在工作空间内运动平稳，无位移、速度突变等情况，且工作空间关于,XOZ,面具有良好的对称性；研究结果为该构型冗余并联机构的实际应用提供了基础。

Abstract

Due to higher stiffness, better dynamics performance, etc., the redundantly driven parallel mechanisms are increasingly used in various industries. A 3-DOF redundant parallel mechanism with a double-slider structure is proposed. Based on the direct position solution and inverse position solution, the kinematics equation of the mechanism is deduced separately, and the kinematics simulation are carried out by combining the inverse solution equation with MATLAB to draw the drive displacement and speed. Combining kinematics analysis results and direct position solution equations to analyze the workspace of the mechanism, and drawing the three-dimensional workspace of the mechanism. The results of kinematics and workspace show that the mechanism runs smoothly in the workspace, without sudden change in speed, displacement, etc., and the workspace has good symmetry about ,XOZ,. The research results also provide the foundation for the practical redundant application of this configuration redundant parallel mechanism.

关键词

冗余驱动并联机构运动学性能工作空间

Keywords

Redundantly drivenParallel mechanismKinematics performanceWorkspace

references

FIRMANI F， PODHORODESKI R P. Force-unconstrained poses for a redundantly-actuated planar parallel manipulator［J］. Mechanism and Machine Theory， 2004， 39（5）：459-476.

OBRIEN J F， WEN J T. Redundant actuation for improving kinematic manipulability［C］ // Proceedings of 1999 IEEE International Conference on Robotics and Automation， 10-15 May 1999， Detroit， MI. New York：IEEE， 1999：1520-152 .

ZHAO Y J， GAO F， ZHAO Y， et al. Dynamic performance comparison of the 8PSS redundant parallel manipulator and its non-redundant counterpart—the 6PSS parallel manipulator［J］. Mechanism & Machine Theory， 2009， 44（5）：991-1008.

黄真，赵永生，赵铁石. 高等空间机构学［M］. 北京：高等教育出版社， 2006：187-188.

张立勋，孙洪颖，钱振美. 卧式下肢康复机器人运动学分析及仿真［J］. 系统仿真学报， 2010， 22（8）：2001-2005．

LIANG D， SONG Y M， SUN T， et al. Optimum design of a novel redundantly actuated parallel manipulator with multiple actuation modes for high kinematic and dynamic performance［J］. Nonlinear Dynamics， 2016， 83：631-658.

MULLER A. Consequences of geometric imperfections for control of redundantly actuated parallel manipulators［J］. IEEE Transactions on Robotics， 2010， 26（1）：21-31.

MULLER A. Internal preload control of redundantly actuated parallel manipulators its application to backlash avoiding control［J］. IEEE Transactions on Robotics， 2005， 21（4）：668-677.

李剑锋，费仁元，范金红，等. 驱动器布位及冗余驱动对Tricept并联机构性能的影响［J］. 机械工程学报， 2008， 44（1）：31-39.

杨建新，余跃庆. 平面三自由度冗余并联机构的驱动奇异性分析［J］. 中国机械工程， 2006， 17（6）：629-632.

刘欣，仇原鹰，陈光达. 平面冗余与非冗余并联机构的奇异性比较研究［J］. 中国机械工程， 2006， 17（17）：1769-1774.

GOSSELIN B C M， HAMEL J F. The agile eye： a high-performance three degree of freedom camera-orienting device［C］// IEEE International Conference on Robotics & Automation， May 8-13， 1994， San Diego. New York： 1994：781-786.

蔡敢为，王红州，潘宇晨. 一种含5R闭环子链的六自由度并联机构： 2011102834004［P］. 2012-02-15.

刘辛军. 并联机器人连接分支结构及六自由度并联机器人机构： 03149547.8［P］. 2007-07-18.

ASGARI M， ARDESTANI M A， ASGARI M. Dynamics and control of a novel 3-DoF spatial parallel robot［C］// Proceeding of the 2013 RSI/ISM international Conference on robotics and Mechatronics， February 13-15， 2013， Tehran， Iran. New York： IEEE. 2013： 183-188.

SRIVATSAN RA. BANDYOPADHYAYS， GHOSAL A. Analysis of the degrees-of-freedom of spatial parallel manipulators in regular and singular configurations［J］. Mechanism & Machine Theory， 2013， 69（11）：127-141.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

A New Type of Closed-loop Limb Redundant Parallel Mechanism

Design and Analysis of a Parallel Mechanism for Circular Spherical Translation and One-dimensional Rotation

Kinematics, Singularity and Workspace Analysis of a Novel 3T Parallel Mechanism Based on SKC

Configuration Synthesis and Kinematics Analysis of the 1R2T Parallel Mechanism in the Chinese Baijiu Box Packaging Production Line

Design and Analysis of a Cylindrical Surface Translation and a Rotational Parallel Mechanism

Related Author

No data

Related Institution

Sichuan Provincial Engineering Laboratory of Super Alloy Cutting Technology

Department of Mechanical and Electrical Engineering， Sichuan Engineering Technical College

School of Advanced Manufacturing, Nanchang University

East China Jiaotong University

Nanjing Vocational Institute of Mechatronic Technology

⁰