Kinematic Performance Analysis of Spatial 2-DOF Redundantly Actuated Parallel Manipulator

doi:10.3901/JME.2022.23.018

Abstract

Abstract: Aiming at the demand of high-performance manipulators in the field of construction robots, a spatial 2 rotational DOF 3-UPS&U redundantly actuated parallel manipulator is proposed. Based on the screw theory and the modified G-K formula, the overall degree of freedom of the manipulator is analyzed, and the kinematic characteristics of the universal joint rotation around the proper-constraint branch chain are determined. The mapping relationship between the actuated parameters and the end-point parameters is established, and the workspace is obtained. Through independent modeling of the actuated legs and the passive leg, the complete generalized Jacobian matrix of the parallel manipulator is constructed, and the dimensionless Jacobian matrix of the linear velocity of the end center point and the actuator joints is further obtained. The dexterity, load-carrying capacity and stiffness performance evaluation indexes of the manipulator under a specific workspace are established. The final results show that when the 3-UPS&U redundantly actuated parallel manipulator swings up and down at a high frequency, it has better comprehensive kinematic performance in the direction of the corresponding axis of the constraint branch, and can greatly reduce the amplitude of performance degradation.

Key words: redundant actuation, parallel manipulator, spatial 2-DOF, workspace, kinematic performance

CLC Number:

TH112
TP24

WANG Shijie, FENG Wei, LI Tiejun, ZHANG Jianjun, YANG Dong, LIU Jinyue. Kinematic Performance Analysis of Spatial 2-DOF Redundantly Actuated Parallel Manipulator[J]. Journal of Mechanical Engineering, 2022, 58(23): 18-27.

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