Abstract
Redundantly actuated parallel manipulators (RAPMs) with two rotations and one translation (2R1T) are suitable for some manufacturing applications where high precision and speed are required. In this paper, a new 2R1T RAPM with two output moving platforms, called Var2 RAPM, is proposed. The Var2 RAPM is a (2RPR-R)-RPS-UPS RAPM, which is actuated by four P joints (where R denotes a revolute joint, P denotes an actuated prismatic joint, S denotes a spherical joint, and U denotes a universal joint). First, the mobility analysis shows that the second moving platform can achieve two rotations and one translation. Then, the inverse kinematics is presented by using the constraints of joints. In addition, one local and two global kinematic performance indices are used to evaluate the motion/force transmissibility of the proposed Var2 RAPM. Finally, with respect to the two global kinematic indices, the architectural parameters of Var2 RAPM are optimized by using the parameter-finiteness normalization method. The Var2 RAPM has the potential for the machining of curved workpieces.
The work is supported by the National Natural Science Foundation of China (Grants No. 51935010, 52005448), and China Postdoctoral Science Foundation (Grant No. 2021M702123).
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Xu, L., Chai, X., Lin, Z., Ding, Y. (2022). Kinematic Analysis and Optimization of a New 2R1T Redundantly Actuated Parallel Manipulator with Two Moving Platforms. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13456. Springer, Cham. https://doi.org/10.1007/978-3-031-13822-5_5
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