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

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.

[1]  John T. Wen,et al.  Redundant actuation for improving kinematic manipulability , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[2]  Ilian A. Bonev,et al.  Design of a Three-Axis Articulated Tool Head With Parallel Kinematics Achieving Desired Motion/Force Transmission Characteristics , 2010 .

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

[4]  Jun Wu,et al.  A Control Strategy of a Two Degrees-of-Freedom Heavy Duty Parallel Manipulator , 2015 .

[5]  Jean-Pierre Merlet.  Redundant parallel manipulators , 1996 .

[6]  Stefan Staicu,et al.  Inverse dynamics of the 3-PRR planar parallel robot , 2009, Robotics Auton. Syst..

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

[8]  Tsuneo Yoshikawa,et al.  Dynamic manipulability of robot manipulators , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[9]  S. Jack Hu,et al.  Dynamic Formulation and Performance Comparison of the 3-DOF Modules of Two Reconfigurable PKM—the Tricept and the TriVariant , 2005 .

[10]  M. Abedinnasab,et al.  Analysis of a 6-DOF redundantly actuated 4-legged parallel mechanism , 2009 .

[11]  T. Takamori,et al.  A measure for evaluation of dynamic dexterity based on a stochastic interpretation of manipulator motion , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[12]  Jun Wu,et al.  Dynamic load-carrying capacity of a novel redundantly actuated parallel conveyor , 2014 .

[13]  Liping Wang,et al.  Dynamic performance comparison and counterweight optimization of two 3-DOF parallel manipulators for a new hybrid machine tool , 2010 .

[14]  Zvi Shiller,et al.  Design of robotic manipulators for optimal dynamic performance , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[15]  Xiang Chen,et al.  Optimum Kinematic Design of a 3-DOF Parallel Kinematic Manipulator with Actuation Redundancy , 2011, ICIRA.

[16]  A. Müller,et al.  Model-based control of redundantly actuated parallel manipulators in redundant coordinates , 2012, Robotics Auton. Syst..

[17]  Yongjie Zhao.  Dynamic Performance Evaluation of a Three Translational Degrees of Freedom Parallel Robot , 2012, Int. J. Robotics Autom..

[18]  Jun Wu,et al.  Stiffness and natural frequency of a 3-DOF parallel manipulator with consideration of additional leg candidates , 2013, Robotics Auton. Syst..

[19]  Hamid D. Taghirad,et al.  Kinematic, singularity and stiffness analysis of the hydraulic shoulder: a 3-d.o.f. redundant parallel manipulator , 2006, Adv. Robotics.

[20]  H. Asada,et al.  A Geometrical Representation of Manipulator Dynamics and Its Application to Arm Design , 1983 .

[21]  Oussama Khatib,et al.  Inertial Properties in Robotic Manipulation: An Object-Level Framework , 1995, Int. J. Robotics Res..

[22]  Yongjie Zhao,et al.  Dynamic performance comparison of the 8PSS redundant parallel manipulator and its non-redundant counterpart—the 6PSS parallel manipulator , 2009 .

[23]  Jun Wu,et al.  Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy , 2009 .