Dynamic Performance Evaluation of a Redundantly Actuated and Over-constrained Parallel Manipulator
文献类型：期刊论文
| 作者 | Hai-Qiang Zhang2; Hai-Rong Fang2; Bing-Shan Jiang2; Shuai-Guo Wang1 |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2019 |
| 卷号 | 16期号:3页码:274-285 |
| 关键词 | Redundantly actuated over-constrained parallel manipulator dynamics performance index. |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-018-1147-6 |
| 英文摘要 | This paper presents a redundantly actuated and over-constrained 2RPU-2SPR parallel manipulator with two rotational and one translational coupling degrees of freedom. The 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 operation. By 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 derived. Simultaneously, 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 introduced. The analysis results show that the proposed redundantly actuated and over-constrained 2RPU-2SPR 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. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42337]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | 1.MH Robot & Automation Limited Company, Weifang 262200, China 2.School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China |
| 推荐引用方式 GB/T 7714 | Hai-Qiang Zhang,Hai-Rong Fang,Bing-Shan Jiang,et al. Dynamic Performance Evaluation of a Redundantly Actuated and Over-constrained Parallel Manipulator[J]. International Journal of Automation and Computing,2019,16(3):274-285. |
| APA | Hai-Qiang Zhang,Hai-Rong Fang,Bing-Shan Jiang,&Shuai-Guo Wang.(2019).Dynamic Performance Evaluation of a Redundantly Actuated and Over-constrained Parallel Manipulator.International Journal of Automation and Computing,16(3),274-285. |
| MLA | Hai-Qiang Zhang,et al."Dynamic Performance Evaluation of a Redundantly Actuated and Over-constrained Parallel Manipulator".International Journal of Automation and Computing 16.3(2019):274-285. |
入库方式： OAI收割
来源：自动化研究所
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