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Dynamic Performance Evaluation of a redundantly Actuated and Over-constrained Parallel Manipulator

International Journal of Automation and computing 2019年第3期16卷 274-285页

作者： Hai-Qiang Zhang Hai-Rong Fang Bing-Shan Jiang Shuai-Guo Wang School of Mechanical.Electronic and Control Engineering Beijing Jiaotong UniversityBeijing 100044China MH Robot&Automation Limited Company Wei fang 262200China

This paper presents a redundantly actuated and over-constrained 2 RPU-2 SPR parallel manipulator with two rotational and one translational coupling degrees of *** kinematics analysis is firstly carried out and the mapping relationship of the velocity,acceleration and the independent parameters between the actuator joint and the moving platform are deduced by using the vector dot product and cross product *** employing d′Alembert′s principle and the principle of virtual work,the dynamics equilibrium equation is derived,and the simplified dynamics mathematical model of the parallel manipulator is further ***,the generalized inertia matrix which can characterize the acceleration performance between joint space and operation space is further separated,and the performance indices including the dynamics dexterity,inertia coupling characteristics,energy transmission efficiency and driving force/torque balance are *** analysis results show that the proposed redundantly actuated and over-constrained 2 RPU-2 SPR parallel manipulator in comparison with the existing non-redundant one has better dynamic comprehensive performance,which can be demonstrated practically by the successful application of the parallel kinematic machine head module of the hybrid machine tool.

关键词： redundantly actuated over-constrained parallel manipulator dynamics performance index

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Motion-force Transmissibility Characteristic Analysis of a redundantly Actuated and Overconstrained Parallel Machine

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International Journal of Automation and computing 2019年第2期16卷 150-162页

作者： Hai-Qiang Zhang Hai-Rong Fang Bing-Shan Jiang School of Mechanical Electronic and Control EngineeringBeijing Jiaotong University

This paper presents a novel 1T2R three degrees of freedom redundantly actuated and overconstrained ■parallel machining head(■denotes the active prismatic joint), which can construct 5-axis hybrid machine to complete high speed freedom surface milling for large complex structural components in aerospace. Firstly, based on the screw theory, the mobility of the proposed parallel manipulator is briefly analysed. Secondly, the kinematic inverse position and the parasitic motion of the parallel manipulator are explicitly expressed. Furthermore, motion-force transmission performance evaluation indices are derived in detail via an alternative approach based on the screw theory. More importantly, a simple method for quickly solving the maximum virtual power coefficient is proposed, and the motion-force transmission performance evaluation index is greatly improved. To evaluate the kinematic performance, its workspace is calculated. With numerical examples, performance distribution atlases of the manipulator are depicted visually. The corresponding results illustrate that the proposed parallel manipulator has better orientation workspace and superior motion-force transmission performance than the 2 PRU-PRS parallel manipulator, which proves the validity and applicability of applying this manipulator as a machining head.

关键词： redundantly actuated overconstrained parallel manipulator motion-force transmission performance workspace

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维普期刊数据库

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