Kinematics, dynamics, and load distribution analysis of a 4-PPPS redundantly actuated parallel manipulator
文献类型：期刊论文
| 作者 | Liu, Zhaoyang1,2 ; Tao, Rui1,2; Fan, Junfeng1; Wang, Zhe1,2; Jing, Fengshui1,2; Tan, Min1,2
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| 刊名 | MECHANISM AND MACHINE THEORY
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| 出版日期 | 2022 |
| 卷号 | 167页码:22 |
| 关键词 | Redundant parallel manipulator Kinematics Dynamics Screw theory Load distribution |
| ISSN号 | 0094-114X |
| DOI | 10.1016/j.mechmachtheory.2021.104494 |
| 通讯作者 | Jing, Fengshui(fengshui.jing@ia.ac.cn) |
| 英文摘要 | 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. |
| WOS关键词 | ACCELERATION ANALYSIS ; TORQUE DISTRIBUTION ; DESIGN ; WORKSPACE ; SYSTEM |
| 资助项目 | National Natural Science Foundation of China[U1813208] ; National Key Research and Development Program of China[2019YFB1312703] |
| WOS研究方向 | Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000696931500006 |
| 出版者 | PERGAMON-ELSEVIER SCIENCE LTD |
| 资助机构 | National Natural Science Foundation of China ; National Key Research and Development Program of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/46031]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 复杂系统管理与控制国家重点实验室_水下机器人 |
| 通讯作者 | Jing, Fengshui |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Liu, Zhaoyang,Tao, Rui,Fan, Junfeng,et al. Kinematics, dynamics, and load distribution analysis of a 4-PPPS redundantly actuated parallel manipulator[J]. MECHANISM AND MACHINE THEORY,2022,167:22. |
| APA | Liu, Zhaoyang,Tao, Rui,Fan, Junfeng,Wang, Zhe,Jing, Fengshui,&Tan, Min.(2022).Kinematics, dynamics, and load distribution analysis of a 4-PPPS redundantly actuated parallel manipulator.MECHANISM AND MACHINE THEORY,167,22. |
| MLA | Liu, Zhaoyang,et al."Kinematics, dynamics, and load distribution analysis of a 4-PPPS redundantly actuated parallel manipulator".MECHANISM AND MACHINE THEORY 167(2022):22. |
入库方式： OAI收割
来源：自动化研究所
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