Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy

作     者：Chaoyu Shen Haibo Qu Sheng Guo Xiao Li Chaoyu Shen;Haibo Qu;Sheng Guo;Xiao Li

作者机构：Robotics Research CenterSchool of MechanicalElectronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China China Waterborne Transport Research InstituteBeijing 100088China Key Laboratory of Vehicle Advanced ManufacturingMeasuring and Control TechnologyMinistry of EducationBeijing Jiaotong UniversityBeijing 100044China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2022年第35卷第5期

页      面：244-261页

核心收录：

学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 0701[理学-数学] 

基　　金：Fundamental Research Funds for the Central Universities(Grant No.2022JBZX025) Natural Science Foundation of Hebei Province(Grant No.E2022105029) National Natural Science Foundation of China(Grant No.51875033). 

主　　题：Parallel mechanism Kinematic redundancy Singularity Simulation analysis 

摘      要：The kinematic redundancy is considered as a way to improve the performance of the parallel mechanism.In this paper,the kinematics performance of a three degree-of-freedom parallel mechanism with kinematic redundancy(3-DOF PM-KR)and the influence of redundant parts on the PM-KR are analyzed.Firstly,the kinematics model of the PM-KR is established.The inverse solutions,the Jacobian matrix,and the workspace of the PM-KR are solved.Secondly,the influence of redundancy on the PM-KR is analyzed.Since there exists kinematic redundancy,the PM-KR possesses fault-tolerant performance.By locking one actuating joint or two actuating joints simultaneously,the fault-tolerant workspace is obtained.When the position of the redundant part is changed,the workspace and singularity will be changed.The results show that kinematic redundancy can be used to avoid singularity.Finally,the simulations are performed to prove the theoretical analysis.