An Experimental Study of a Redundantly Actuated Parallel Manipulator for a 5-DOF Hybrid Machine Tool

This paper deals with the experimental study of a redundantly actuated parallel manipulator for a 5-DOF hybrid machine tool. Based on the kinematics of the redundantly actuated parallel manipulator, the inverse dynamics is derived by using the virtual work principle. A position and force switching control strategy is used for the two extendible chains of the parallel manipulator. Further, the difference predictive control is presented for the extendible chain with force mode. The parallel manipulator is incorporated into a 5-DOF hybrid machine tool. Linear and circular contouring experiments of both the hybrid machine tool as well as its corresponding nonredundant counterpart with the redundant limb removed are conducted to evaluate the machine performance. Finally, the machine experiment is used to demonstrate the machine's applicability.

[1]  C. Gosselin,et al.  Kinematic Analysis and Design of Kinematically Redundant Parallel Mechanisms , 2004 .

[2]  Vincent Hayward,et al.  Multiple-goal kinematic optimization of a parallel spherical mechanism with actuator redundancy , 1992, IEEE Trans. Robotics Autom..

[3]  Guanfeng Liu,et al.  Analysis and control of redundant parallel manipulators , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[4]  Shin-Min Song,et al.  An efficient method for inverse dynamics of manipulators based on the virtual work principle , 1993, J. Field Robotics.

[5]  Jorge Angeles,et al.  Real-time force optimization in parallel kinematic chains under inequality constraints , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[6]  Il Hong Suh,et al.  A five-bar finger mechanism involving redundant actuators: analysis and its applications , 1999, IEEE Trans. Robotics Autom..

[7]  Jun Wu,et al.  Analysis and Application of a 2-DOF Planar Parallel Mechanism , 2007 .

[8]  Clément Gosselin,et al.  Analytical determination of the workspace of symmetrical spherical parallel mechanisms , 2006, IEEE Transactions on Robotics.

[9]  Zexiang Li,et al.  Dynamics and control of redundantly actuated parallel manipulators , 2003 .

[10]  Frank Chongwoo Park,et al.  Design and analysis of a redundantly actuated parallel mechanism for rapid machining , 2001, IEEE Trans. Robotics Autom..

[11]  C.M. Gosselin,et al.  Computationally Efficient Predictive Robot Control , 2007, IEEE/ASME Transactions on Mechatronics.

[12]  Dimitar Chakarov,et al.  Study of the antagonistic stiffness of parallel manipulators with actuation redundancy , 2004 .

[13]  F. Bekes,et al.  Motion control of a tendon-based parallel manipulator using optimal tension distribution , 2004, IEEE/ASME Transactions on Mechatronics.

[14]  Qingsong Xu,et al.  Design and Development of a Medical Parallel Robot for Cardiopulmonary Resuscitation , 2007, IEEE/ASME Transactions on Mechatronics.

[15]  Andreas Müller,et al.  Internal Preload Control of Redundantly Actuated Parallel Manipulators—Its Application to Backlash Avoiding Control , 2005, IEEE Transactions on Robotics.