DOI QR코드

DOI QR Code

Deformation analysis of a 3-DOF parallel manipulator with one or two additional branches

  • Chen, Xiaolei (Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University) ;
  • Wu, Jun (Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University) ;
  • Yu, Guang (Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University) ;
  • Wang, Liping (Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University)
  • 투고 : 2013.10.07
  • 심사 : 2013.12.22
  • 발행 : 2014.04.25

초록

Redundant parallel manipulators have some advantages over the nonredundant parallel manipulators. It is important to determine how many additional branches should be introduced. This paper studies whether one or two additional branches should be added to a 3-DOF parallel manipulator by comparing the flexible deformation of a 3-DOF parallel manipulator with one additional branch and that with two additional branches. The kinematic and dynamic models of the redundant parallel manipulator are derived and the flexible deformation is investigated. The flexible deformation of the manipulators with one additional branch and two branches is simulated and compared. This paper is helpful for designers to design a redundantly actuated parallel manipulator.

키워드

과제정보

연구 과제 주관 기관 : National Natural Science Foundation of China

참고문헌

  1. Buttolo, P. and Hannaford, B. (1995), "Advantages of actuation redundancy for the design of haptic displays", Proceedings of ASME Int. Mechanical Engineering Congress and Exposition, San Francisco, CA, USA, November.
  2. Ceccarelli, M. and Carbone, G. (2002), "A stiffness analysis for CaPaman (Cassino Parallel Manipulator)", Mech. Mach. Theory, 37(5), 427-439. https://doi.org/10.1016/S0094-114X(02)00006-X
  3. Gao, Z., Zhang, D., Hu, X.L. and Ge, Y.J. (2010), "Design, analysis, and stiffness optimization of a three degree of freedom parallel manipulator", Robotica, 28(3), 349-357. https://doi.org/10.1017/S0263574709005657
  4. Gosselin, C.M. (1990), "Stiffness mapping for parallel manipulators", IEEE Trans. Rob. Autom., 6(3), 377-382. https://doi.org/10.1109/70.56657
  5. Hao, G.B. and Kong, X.W. (2012), "A novel large-range XY compliant parallel manipulator with enhanced out-of-plane stiffness", J. Mech. Des., 134(6), 061009-1-061009-9. https://doi.org/10.1115/1.4006653
  6. Huang, D.T.Y. and Lee, J.J. (2001), "On obtaining machine tool stiffness by CAE techniques", Int. J. Mach. Tools Manuf., 41(8), 1149-1163. https://doi.org/10.1016/S0890-6955(01)00012-8
  7. Kim, J., Park, F.C., Ryu, S.J., Kim, J., Hwang, J.C., Park, C. and Iurascu, C.C. (2001), "Design and analysis of a redundantly actuated parallel mechanism for rapid machining", IEEE Trans. Rob. Autom., 17(4), 423-434. https://doi.org/10.1109/70.954755
  8. Merlet, J.P. (1996), "Redundant parallel manipulators", Lab. Rob. Autom., 8(1), 17-24. https://doi.org/10.1002/(SICI)1098-2728(1996)8:1<17::AID-LRA3>3.0.CO;2-#
  9. Nahon, M. and Angeles, J. (1992), "Real-time force optimization in parallel kinematic chains under inequality constraints", IEEE Trans. Rob. Autom., 8(4), 439-450. https://doi.org/10.1109/70.149943
  10. Nokleby, S.B., Fisher, R., Podhorodeski, R.P. and Firmani, F. (2005), "Force capabilities of redundantlyactuated parallel manipulators", Mech. Mach. Theory, 40(5), 578-599. https://doi.org/10.1016/j.mechmachtheory.2004.10.005
  11. Svinin, M.M., Hosoe, S. and Uchiyana, M. (2001), "On the stiffness and stability of Gough-Stewart platforms", IEEE Int. Conf. on Robotics and Automation, Seoul, Korea, May.
  12. Thanh, T.D., Kotlarski, J., Heimann, B. and Ortmaier, T. (2012), "Dynamics identification of kinematically redundant parallel robots using the direct search method", Mech. Mach. Theory, 52(9), 277-295. https://doi.org/10.1016/j.mechmachtheory.2012.02.002
  13. Wang, J. and Gosselin, C.M. (2004), "Kinematic analysis and design of kinematically redundant parallel mechanisms", ASME J. Mech. Des., 126(1), 109-118. https://doi.org/10.1115/1.1641189
  14. Wu, J., Wang, J.S., Li, T.M. and Wang, L.P. (2007), "Dynamic analysis of the 2-DOF planar parallel manipulator of a heavy duty hybrid machine tool", Int. J. Adv. Manuf. Tech., 34(3-4), 413-420. https://doi.org/10.1007/s00170-006-0605-4
  15. Wu, J., Wang, J.S., Wang, L.P. and Li, T.M. (2009), "Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy", Mech. Mach. Theory, 44(4), 835-849. https://doi.org/10.1016/j.mechmachtheory.2008.04.002
  16. Yi, B.J., Oh, S.R. and Suh, I.H. (1999), "Five-bar finger mechanism involving redundant actuators: analysis and its applications", IEEE Trans. Rob. Autom., 15(6), 1001-1010. https://doi.org/10.1109/70.817665
  17. Yun, Y. and Li, Y. (2012), "Modeling and control analysis of a 3-PUPU dual compliant parallel manipulator for micro positioning and active vibration isolation", J. Dyn. Sys. Mea. Control, 134(2), 021001-1-021001-9. https://doi.org/10.1115/1.4005036
  18. Zhang, X.P., Mills, J.K. and Cleghorn, W.L. (2010), "Investigation of axial forces on dynamic properties of a flexible 3-PRR planar parallel manipulator moving with high speed", Robotica, 28(4), 607-619. https://doi.org/10.1017/S0263574709990282
  19. Zhao, Y.J. and Gao, F. (2009), "Dynamic performance comparison of the 8PSS redundant parallel manipulator and its non-redundant counterpart- the 6PSS parallel manipulator", Mech. Mach. Theory, 44(5), 991-1008. https://doi.org/10.1016/j.mechmachtheory.2008.05.015