首页|Kinematics, dynamics, and load distribution analysis of a 4-PPPS redundantly actuated parallel manipulator
Kinematics, dynamics, and load distribution analysis of a 4-PPPS redundantly actuated parallel manipulator
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NSTL
Elsevier
In this paper, the kinematics, dynamics, and load distribution algorithm of a 4-PPPS redundantly actuated parallel manipulator are investigated with the screw theory. For the forward kinematic analysis, we propose the major joint set, a minimum set for determining the kinematic and dynamic state of the mobile platform with six specially selected prismatic joints. The reciprocity of screws is applied for simplifying the derivation of the Jacobian matrix. The driving forces of the active joints are solved with the principle of virtual work for the non-redundant and the fully redundant actuation mode with the major joint set. For the fully redundant actuation mode, to avoid joint overload resulted from the conventional least-norm load distribution solution, to smooth the force transition, and to increase the positioning accuracy of the manipulator, a load distribution algorithm based on Lagrange optimization is proposed. These effects are achieved by means including reducing the deformations of the z-axis links and considering the sensitivity and elasticity of major joints. At last, the effectiveness of the modeling method and the proposed algorithm is verified with a case study.
Redundant parallel manipulatorKinematicsDynamicsScrew theoryLoad distribution
Liu, Zhaoyang、Tao, Rui、Fan, Junfeng、Wang, Zhe、Jing, Fengshui、Tan, Min
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Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
NSTL
Elsevier
