[1] 张彦斐,宫金良,李为民,等. 一种6自由度冗余驱动并联机器人运动学分析及仿真[J]. 机械工程学报,2005,41(8):144-148. ZHANG Yanfei,GONG Jinliang,LI Weimin,et al. Kinematic analysis and simulation of a 6-dof redundant actuation parallel mechanism[J]. Chinese Journal of Mechanical Engineering,2005,41(8):144-148.
[2] 卿建喜,李剑锋,方斌. 冗余驱动Tricept并联机构的驱动优化[J]. 机械工程学报,2010,46(5):8-14. QING Jianxi,LI Jianfeng,FANG Bin. Drive Optimization of tricept parallel mechanism with redundant actuation[J]. Journal of Mechanical Engineering,2010,46(5):8-14.
[3] LI Q,ZHANG N,WANG F. New indices for optimal design of redundantly actuated parallel manipulators[J]. Journal of Mechanisms and Robotics,2016,9(1):011007.
[4] CHENG H,LIU G F,YIU Y K,et al. Advantages and dynamics of parallel manipulators with redundant actuation[C]//Proceedings of RSJ/IEEE International Conference on Intelligent Robots and Systems,29 Oct.-3 Nov.,2001,Maui,USA. Piscataway:IEEE,2001:171-176.
[5] SHANG Weiwei,CONG Shuang,GE Yuan. Adaptive computed torque control for a parallel manipulator with redundant actuation[J]. Robotica,2012,30(3):457-466.
[6] TAKEDA Y,FUNABASHI H,ICHIKAWA K,et al. An in-parallel actuated manipulator with redundant actuators for gross and fine motions[C]//Proceedings of IEEE International Conference on Robotics and Automation,14-19 Sept.,2003,Taipei,Taiwan,China. New York:IEEE,2003:749-754.
[7] XU Yundou,YAO Jiantao,ZHAO Yongsheng. Inverse dynamics and internal forces of the redundantly actuated parallel manipulators[J]. Mechanism and Machine Theory,2012,51(51):172-184.
[8] KIM J,PARK C,RYU S J,et al. Design and analysis of a redundantly actuated parallel mechanism for rapid machining[J]. IEEE Transactions on Robotics and Automation,2001,17(4):423-434.
[9] YAO J,GU W,FENG Z,et al. Dynamic analysis and driving force optimization of a 5-DOF parallel manipulator with redundant actuation[J]. Robotics and Computer-Integrated Manufacturing,2017,48(1):51-58.
[10] NOKLEBY S B,FISHER R,PODHORODESKI R P,et al. Force capabilities of redundantly-actuated parallel manipulators[J]. Mechanism and Machine Theory,2005,40(5):578-599.
[11] 牛雪梅,刘辛军,高国琴,等. 新型驱动冗余并联机构动力学建模及简化分析[J]. 机械工程学报,2014,50(19):41-49. NIU Xuemei,LIU Xinjun,GAO Guoqin,et al. Dynamic formulation and simplified model of a novel 3-dof parallel mechanism with actuation redundancy[J]. Journal of Mechanical Engineering,2014,50(19):41-49.
[12] 牛雪梅,高国琴,刘辛军,等. 三自由度驱动冗余并联机构动力学建模与试验[J]. 农业工程学报,2013,29(16):31-41. NIU Xuemei,GAO Guoqin,LIU Xinjun,et al. Dynamics and control of a novel 3-dof parallel manipulator with actuation redundancy[J]. Transactions of the Chinese Society of Agricultural Engineering,2013,29(16):31-41.
[13] 董成林,刘海涛,黄田. 含冗余驱动支链4-UPS&UP并联机构的运动学性能分析[J]. 机械工程学报,2016,52(5):124-129. DONG Chenglin,LIU Haitao,HUANG Tian. Kinematic performance analysis of redundantly actuated 4-UPS&UP parallel manipulator[J]. Journal of Mechanical Engineering,2016,52(5):124-129.
[14] 周昌春,方跃法,叶伟,等. 6-RRS超冗余驱动飞行模拟器的性能分析[J]. 机械工程学报,2016,52(1):34-40. ZHOU Changchun,FANG Yuefa,YE Wei,et al. Performance analysis of 6-RRS over-redundant actuation flight simulator[J]. Journal of Mechanical Engineering,2016,52(1):34-40.
[15] LI Shihua,LIU Yanmin,CUI Hongliu,et al. Synthesis of branched chains with actuation redundancy for eliminating interior singularities of 3T1R parallel mechanisms[J]. Chinese Journal of Mechanical Engineering,2016,29(2):1-10.
[16] HUA S,GUAN L,WANG L,et al. Drive force optimization for a redundant parallel machine[J]. Journal of Tsinghua University,2007,47(8):1325-1329.
[17] ABEDINNASAB M H,VOSSOUGHI G R. Analysis of a 6-DOF redundantly actuated 4-legged parallel mechanism[J]. Nonlinear Dynamics,2009,58(58):611-622.
[18] YI B J,FREEMAN R A. Geometric analysis of antagonistic stiffness in redundantly actuated parallel mechanisms[J]. Journal of Robotic Systems,1993,10(5):581-603.
[19] KOCK S,SCHUMACHER W. Control of a fast parallel robot with a redundant chain and gearboxes:experimental results[C]//Proceedings of IEEE International Conference on Robotics and Automation,24-28 April,2000,San Francisco,USA. New York:IEEE,2000:1924-1929.
[20] LEE J H,LI B J,SUH H. Optimal design of a five-bar finger with redundant actuation[C]//Proceedings of IEEE International Conference on Robotics and Automation,20-20 May,1998,Leuven,Belgium. New York:IEEE,1998:2068-2074.
[21] TSAI L W. Robot analysis[M]. New York:Wiley,2004.
[22] 黄真,赵永生,赵铁石. 高等空间机构学[M]. 北京:高等教育出版社,2014. HUANG Zhen,ZHAO Yongsheng,ZHAO Tieshi. Advanced spatial mechanism[M]. Beijing:Higher Education Press,2014.
[23] WAHL J. Articulated tool head:Germany,WO2000025976A2[P]. 2000-05-11. |