Knowledge Commons of Institute of Automation,CAS
Kinematics, dynamics, and load distribution analysis of a 4-PPPS redundantly actuated parallel manipulator | |
Liu, Zhaoyang1,2![]() ![]() ![]() ![]() ![]() | |
发表期刊 | MECHANISM AND MACHINE THEORY
![]() |
ISSN | 0094-114X |
2022 | |
卷号 | 167页码:22 |
摘要 | In 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. |
关键词 | Redundant parallel manipulator Kinematics Dynamics Screw theory Load distribution |
DOI | 10.1016/j.mechmachtheory.2021.104494 |
关键词[WOS] | ACCELERATION ANALYSIS ; TORQUE DISTRIBUTION ; DESIGN ; WORKSPACE ; SYSTEM |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[U1813208] ; National Key Research and Development Program of China[2019YFB1312703] |
项目资助者 | National Natural Science Foundation of China ; National Key Research and Development Program of China |
WOS研究方向 | Engineering |
WOS类目 | Engineering, Mechanical |
WOS记录号 | WOS:000696931500006 |
出版者 | PERGAMON-ELSEVIER SCIENCE LTD |
七大方向——子方向分类 | 智能控制 |
国重实验室规划方向分类 | 实体人工智能系统(软、硬件) |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/46032 |
专题 | 复杂系统认知与决策实验室_先进机器人 复杂系统认知与决策实验室_水下机器人 |
通讯作者 | Jing, Fengshui |
作者单位 | 1.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 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 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. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
1-s2.0-S0094114X2100(2483KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论