Investigation on Driving Characteristics of a Z4 Redundantly Actuated Parallel Manipulator

doi:10.3901/JME.2024.07.066

Abstract

Abstract: As the core module of serial-parallel hybrid machining equipment, the driving characteristics of parallel manipulators are crucial to overall system performance. A set of index is proposed to evaluate the driving characteristics of a Z4 redundantly actuated parallel manipulators. Based on the proposed indices, the task workspace is optimized and the servo torques are predicted. First, the inverse kinematics of a Z4 parallel manipulator is derived with closed-loop vector method to construct a nondimensional Jacobian matrix, which is used to evaluate kinematic isotropy. Second, a rigid-body dynamic model is established by using Lagrange method, based on which a minimum 2-norm is formulated to allocate driving forces between different limbs. By selecting the tooltip as a reference point, a set of isotropy index is defined in terms of acceleration, velocity, and dynamic cutting force as well as driving torque. Finally, the optimum task workspace and servo torques are determined based on the proposed indices. A simple experimental test is carried out to validate the selected servo-motors meet the serving requirements.

Key words: parallel manipulator, dynamics modeling, isotropy, driving torque

CLC Number:

TP24

ZHANG Jun, WU Chengyang, FANG Hanliang, SUN Zaichao, WANG Kailong, TANG Tengfei. Investigation on Driving Characteristics of a Z4 Redundantly Actuated Parallel Manipulator[J]. Journal of Mechanical Engineering, 2024, 60(7): 66-78.

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