Motion-force Transmissibility Characteristic Analysis of a Redundantly Actuated and Overconstrained Parallel Machine

doi:10.1007/s11633-018-1156-5

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	Motion-force Transmissibility Characteristic Analysis of a Redundantly Actuated and Overconstrained Parallel Machine
	Hai-Qiang Zhang; Hai-Rong Fang; Bing-Shan Jiang
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2019
卷号	16 期号:2 页码:150-162
摘要	This paper presents a novel 1T2R three degrees of freedom redundantly actuated and overconstrained 2${\underline{\rm P}}$RU-${\underline{\rm P}}$R${\underline{\rm P}}$S parallel machining head (${\underline{\rm P}}$ denotes the active prismatic joint), which can construct 5-axis hybrid machine to complete high speed freedom surface milling for large complex structural components in aerospace. Firstly, based on the screw theory, the mobility of the proposed parallel manipulator is briefly analysed. Secondly, the kinematic inverse position and the parasitic motion of the parallel manipulator are explicitly expressed. Furthermore, motion-force transmission performance evaluation indices are derived in detail via an alternative approach based on the screw theory. More importantly, a simple method for quickly solving the maximum virtual power coefficient is proposed, and the motion-force transmission performance evaluation index is greatly improved. To evaluate the kinematic performance, its workspace is calculated. With numerical examples, performance distribution atlases of the manipulator are depicted visually. The corresponding results illustrate that the proposed parallel manipulator has better orientation workspace and superior motion-force transmission performance than the 2PRU-PRS parallel manipulator, which proves the validity and applicability of applying this manipulator as a machining head.
关键词	Redundantly actuated overconstrained parallel manipulator motion-force transmission performance workspace.
DOI	10.1007/s11633-018-1156-5
引用统计	被引频次：10[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42328
专题	学术期刊_Machine Intelligence Research
作者单位	School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
推荐引用方式 GB/T 7714	Hai-Qiang Zhang,Hai-Rong Fang,Bing-Shan Jiang. Motion-force Transmissibility Characteristic Analysis of a Redundantly Actuated and Overconstrained Parallel Machine[J]. International Journal of Automation and Computing,2019,16(2):150-162.
APA	Hai-Qiang Zhang,Hai-Rong Fang,&Bing-Shan Jiang.(2019).Motion-force Transmissibility Characteristic Analysis of a Redundantly Actuated and Overconstrained Parallel Machine.International Journal of Automation and Computing,16(2),150-162.
MLA	Hai-Qiang Zhang,et al."Motion-force Transmissibility Characteristic Analysis of a Redundantly Actuated and Overconstrained Parallel Machine".International Journal of Automation and Computing 16.2(2019):150-162.

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