Kinematic Performance Analysis of Redundantly Actuated 4-UPS&UP Parallel Manipulator

doi:10.3901/JME.2016.05.124

Abstract

Abstract: The kinematic performance analysis of a redundantly actuated 4-UPS&UP parallel manipulator is dealt, which is a modified version of the 3-UPS&UP parallel mechanism within the Tricept robot by adding a 6-DOF active limb. Compared to the 3-UPS&UP mechanism, the proposed mechanism has higher payload capability and higher static/dynamic performance thanks to the additional active limb. On the basis of the inverse kinematics and the derivation of the 7×6 generalized Jacobian of the 4-UPS&UP mechanism, the 4×3 dimensionless Jacobian can be obtained, which is the mapping between the rates of the actuated joints and the linear velocity of the reference point on the platform, and its condition number is then proposed as the local kinematic performance index. By carrying out the comparison study between the 4-UPS&UP and the 3-UPS&UP mechanisms given the same set of dimensional parameters, it is concluded that the kinematic performance of the 4-UPS&UP mechanism is higher than that of the 3-UPS&UP mechanism.

Key words: kinematic performance, parallel mechanisms, redundantly actuated

CLC Number:

TG156

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.

References

[1] DASGUPTA B,MRUTHYUNJAYA T S. Force redundancy in parallel manipulators：Theoretical and practical issues[J]. Mechanism and Machine Theory,1998,33(6)：727-742.
[2] GARG V,NOKLEBY S B,CARRETERO J A. Wrench capability analysis of redundantly actuated spatial parallel manipulators[J]. Mechanism and Machine theory,2009, 44(5)：1070-1081.
[3] YI B J,OH S R,SUH I H. A five-bar finger mechanism involving redundant actuators：Analysis and its applications[J]. Robotics and Automation,IEEE Transactions on,1999,15(6)：1001-1010.
[4] CHAKAROV D. Study of the antagonistic stiffness of parallel manipulators with actuation redundancy[J]. Mechanism and Machine Theory,2004,39(6)：583-601.
[5] 梁顺攀. 五自由度冗余驱动并联机构性能分析与力/位混合控制研究[D]. 秦皇岛：燕山大学,2013.
LIANG Shunpan. Performance analysis and research on hybrid force/position control of a 5-DOF parallel mechanism with actuation redundancy[D]. Qinhuangdao：Yanshan University,2013.
[6] NEUMANN K E. Robot：US,4732525 [P]. 1988-03-12.
[7] OLAZAGOITIA J L,WYATT S. New PKM Tricept T9000 and its application to ?exible manufacturing at aerospace industry[R]. SAE Technical Paper,07ATC-94,2007.
[8] MERLET J P. Jacobian,manipulability,condition number,and accuracy of parallel robots[J]. Journal of Mechanical Design,2006,128(1)：199-206.
[9] ANGELES J,RANJBARAN F,PATEL R V. On the design of the kinematic structure of seven-axes redundant manipulators for maximum conditioning[C]// IEEE International Conference on Robotics and Automation,May 10-15,1992,Nice,France. 1992：494-499.
[10] ANGELES J. Is there a characteristic length of a rigid-body displacement?[J]. Mechanism and Machine Theory,2006,41(8)：884-896.
[11] KIM S G,RYU J. New dimensionally homogeneous Jacobian matrix formulation by three end-effector points for optimal design of parallel manipulators[J]. Robotics and Automation,IEEE Transactions on,2003,19(4)： 731-736.
[12] LIU Haitao,HUANG Tian,CHETWYND D G. A method to formulate a dimensionally homogeneous Jacobian of parallel manipulators[J]. Robotics,IEEE Transactions on,2011,27(1)：150-156.
[13] BALL R S. A Treatise on the theory of screws[M]. Cambridge：Cambridge University Press,1998.
[14] SUTHERLAND G,ROTH B. A transmission index for spatial mechanisms[J]. Journal of Manufacturing Science and Engineering,1973,95(2)：589-597.
[15] CHEN Chao,ANGELES J. Generalized transmission index and transmission quality for spatial linkages[J]. Mechanism and Machine Theory,2007,42(9)： 1225-1237.
[16] TSAI M J,LEE H W. The transmissivity and manipulability of spatial mechanisms[J]. Journal of Mechanical Design,1994,116(1)：137-143.
[17] WANG Jinsong,WU Chao,LIU Xinjun. Performance evaluation of parallel manipulators: Motion/force transmissibility and its index[J]. Mechanism and Machine Theory,2010,45(10)：1462-1476.
[18] 陈祥,谢福贵,刘辛军. 并联机构中运动/力传递功率最大值的评价[J]. 机械工程学报,2014,50(3)：1-9.
CHEN Xiang,XIE Fugui,LIU Xinjun. Evaluation of the maximum value of motion/force transmission power in parallel manipulators[J]. Journal of Mechanical Engineering,2014,50(3)：1-9.
[19] LIU Haitao,HUANG Tian,KECSKEMETHY A,et al. A generalized approach for computing the transmission index of parallel mechanisms[J]. Mechanism and Machine Theory,2014,74：245-256.
[20] HUANG Tian,LIU Haitao,CHETWYND D G. Generalized Jacobian analysis of lower mobility manipulators[J]. Mechanism and Machine Theory,2011,46(6)：831-844.
[21] GOSSELIN C M,ANGELES J. A global performance index for the kinematic optimization of robotic manipulators[J]. ASME Journal of Mechanical Design, 1991,113(3)：220-226.
[22] HUANG Tian,WANG Panfeng,ZHAO Xueman,et al. Design of a 4-DOF hybrid PKM module for large structural component assembly[J]. CIRP Annals- Manufacturing Technology,2010,59(1)：159-162.