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Kinematics, dynamics, and load distribution analysis of a 4-PPPS redundantly actuated parallel manipulator
Liu, Zhaoyang1,2; Tao, Rui1,2; Fan, Junfeng1; Wang, Zhe1,2; Jing, Fengshui1,2; Tan, Min1,2
Source PublicationMECHANISM AND MACHINE THEORY
ISSN0094-114X
2022
Volume167Pages:22
Corresponding AuthorJing, Fengshui(fengshui.jing@ia.ac.cn)
AbstractIn this paper, the kinematics, dynamics, and load distribution algorithm of a 4-PPPS redundantly actuated parallel manipulator are investigated with the screw theory. For the forward kinematic analysis, we propose the major joint set, a minimum set for determining the kinematic and dynamic state of the mobile platform with six specially selected prismatic joints. The reciprocity of screws is applied for simplifying the derivation of the Jacobian matrix. The driving forces of the active joints are solved with the principle of virtual work for the non-redundant and the fully redundant actuation mode with the major joint set. For the fully redundant actuation mode, to avoid joint overload resulted from the conventional least-norm load distribution solution, to smooth the force transition, and to increase the positioning accuracy of the manipulator, a load distribution algorithm based on Lagrange optimization is proposed. These effects are achieved by means including reducing the deformations of the z-axis links and considering the sensitivity and elasticity of major joints. At last, the effectiveness of the modeling method and the proposed algorithm is verified with a case study.
KeywordRedundant parallel manipulator Kinematics Dynamics Screw theory Load distribution
DOI10.1016/j.mechmachtheory.2021.104494
WOS KeywordACCELERATION ANALYSIS ; TORQUE DISTRIBUTION ; DESIGN ; WORKSPACE ; SYSTEM
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[U1813208] ; National Key Research and Development Program of China[2019YFB1312703]
Funding OrganizationNational Natural Science Foundation of China ; National Key Research and Development Program of China
WOS Research AreaEngineering
WOS SubjectEngineering, Mechanical
WOS IDWOS:000696931500006
PublisherPERGAMON-ELSEVIER SCIENCE LTD
Sub direction classification智能控制
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/46032
Collection复杂系统管理与控制国家重点实验室_先进机器人
复杂系统管理与控制国家重点实验室_水下机器人
Corresponding AuthorJing, Fengshui
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Liu, Zhaoyang,Tao, Rui,Fan, Junfeng,et al. Kinematics, dynamics, and load distribution analysis of a 4-PPPS redundantly actuated parallel manipulator[J]. MECHANISM AND MACHINE THEORY,2022,167:22.
APA Liu, Zhaoyang,Tao, Rui,Fan, Junfeng,Wang, Zhe,Jing, Fengshui,&Tan, Min.(2022).Kinematics, dynamics, and load distribution analysis of a 4-PPPS redundantly actuated parallel manipulator.MECHANISM AND MACHINE THEORY,167,22.
MLA Liu, Zhaoyang,et al."Kinematics, dynamics, and load distribution analysis of a 4-PPPS redundantly actuated parallel manipulator".MECHANISM AND MACHINE THEORY 167(2022):22.
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