Dynamic Modeling and Analysis of Kinematically Redundant Spherical Parallel Manipulator
In order to improve the problems of insufficient working space,singularity,interference and insufficient performance of the traditional non-redundancy 3-RRR spherical parallel mechanism,a spherical parallel mechanism with motion redundancy was designed.According to the closed-loop vector method,the inverse solution model of the position of the mechanism was established,the Jacobian matrix was derived and the singular analysis was carried out,the numerical search method was used to analyze the interference area and reachable space of the mechanism,and the dynamic model of the mechanism was established according to the virtual work principle method,and the difference between the ADAMS dynamic simulation and the theoretical analysis of the driving force was only 0.4% .The driving force distribution optimization analysis was carried out based on the dynamic model,and the optimization results show that for the general moving platform trajectory,the average driving force required by this mechanism was 25.80% smaller than that of the traditional non-redundant 3-RRR spherical parallel mechanism.Finally,the prototype design and kinematic experiments were carried out.The results show that the interference space and singular shape of the mechanism are significantly reduced compared with the traditional 3-RRR spherical parallel mechanism,so the mechanism has more advantages in the application.
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维普
