A Redundant Parallel Manipulator with Constrained Chains

DOI

10.2991/ammee-17.2017.156How to use a DOI?

Keywords

parallel manipulator, pseudo-inverse, optimization, inverse dynamics.

Abstract

This paper has designed and analyzed a kind of parallel manipulator with redundant actuators. The manipulator has different DOFs and motions comparing to conventional parallel manipulators, which is mainly used to simulate various position of heavy, large equipments (such as buses, trucks), due to the position of three constrained chains. In this paper, the conceive outline and a clear structure of this mechanism has been presented at first. By building up an effective kinematic model, the movements of the output platform are analyzed. In addition, the constraint equations are obtained in order to estimate the relationship between self-movement and driven motion. Furthermore, the kinematic and dynamic characteristics have been investigated with common method. Finally, for the redundant force, an optimal approach correlated with output direction is proposed to acquire better-proportioned results than other approaches.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Dongdong Wang
AU  - Xiankui Zhang
AU  - Biao Hou
PY  - 2017/06
DA  - 2017/06
TI  - A Redundant Parallel Manipulator with Constrained Chains
BT  - Proceedings of the Advances in Materials, Machinery, Electrical Engineering (AMMEE 2017)
PB  - Atlantis Press
SP  - 812
EP  - 819
SN  - 2352-5401
UR  - https://doi.org/10.2991/ammee-17.2017.156
DO  - 10.2991/ammee-17.2017.156
ID  - Wang2017/06
ER  -