A Measure for Evaluation of Maximum Acceleration of Redundant and Nonredundant Parallel Manipulators-Reference-Cited by-同舟云学术

A Measure for Evaluation of Maximum Acceleration of Redundant and Nonredundant Parallel Manipulators

Published:2015-11-24 Issue:2 Volume:8 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Wu Jun¹,Zhang Binbin²,Wang Liping¹

Affiliation:

1. State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China e-mail:

2. School of Mechatronics Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China e-mail:

Abstract

The paper deals with the evaluation of acceleration of redundant and nonredundant parallel manipulators. The dynamic model of three degrees-of-freedom (3DOF) parallel manipulator is derived by using the virtual work principle. Based on the dynamic model, a measure is proposed for the acceleration evaluation of the redundant parallel manipulator and its nonredundant counterpart. The measure is designed on the basis of the maximum acceleration of the mobile platform when one actuated joint force is unit and other actuated joint forces are less than or equal to a unit force. The measure for evaluation of acceleration can be used to evaluate the acceleration of both redundant parallel manipulators and nonredundant parallel manipulators. Furthermore, the acceleration of the 4-PSS-PU parallel manipulator and its nonredundant counterpart are compared.

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4031500/6253489/jmr_008_02_021001.pdf

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