Abstract
A novel 5-degree of freedom (DOF) 5-UPS/PRPU parallel machine tool (PMT) with redundant actuation was introduced. The inverse kinematics and statics analysis of this redundantly actuated PMT were presented. The optimization of the distribution of the driving forces was discussed by adopting the pseudo-inverse approach. And numerical example shows that distribution of the driving forces become more uniform with redundant actuation. Experiments were carried out for the state of redundant actuation and non-redundant actuation of the PMT respectively. The creeping phenomenon of the slider of the middle limb of the PMT at low speed was eliminated, so the feedback data of the PRPU limb was more precise and the motion accuracy of the PMT was improved.
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Cheng, L., Wang, H., Zhao, Y. (2008). Analysis and Experimental Investigation of Parallel Machine Tool with Redundant Actuation. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_20
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DOI: https://doi.org/10.1007/978-3-540-88513-9_20
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88512-2
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