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Dynamic Performance Evaluation of a Redundantly Actuated and Over-constrained Parallel Manipulator

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Abstract

This paper presents a redundantly actuated and over-constrained 2RPU-2SPR parallel manipulator with two rotational and one translational coupling degrees of freedom. The kinematics analysis is firstly carried out and the mapping relationship of the velocity, acceleration and the independent parameters between the actuator joint and the moving platform are deduced by using the vector dot product and cross product operation. By employing d’Alembert’s principle and the principle of virtual work, the dynamics equilibrium equation is derived, and the simplified dynamics mathematical model of the parallel manipulator is further derived. Simultaneously, the generalized inertia matrix which can characterize the acceleration performance between joint space and operation space is further separated, and the performance indices including the dynamics dexterity, inertia coupling characteristics, energy transmission efficiency and driving force/torque balance are introduced. The analysis results show that the proposed redundantly actuated and over-constrained 2RPU-2SPR parallel manipulator in comparison with the existing non-redundant one has better dynamic comprehensive performance, which can be demonstrated practically by the successful application of the parallel kinematic machine head module of the hybrid machine tool.

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Acknowledgments

This work was supported by the Fundamental Research Funds for the Central Universities (Nos. 2018JBZ007, 2018YJS136 and 2017YJS158), and China Scholarship Council (CSC) (No. 201807090079) and National Natural Science Foundation of China (No. 51675037).

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Authors and Affiliations

  1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, 100044, China

    Hai-Qiang Zhang, Hai-Rong Fang & Bing-Shan Jiang

  2. MH Robot & Automation Limited Company, Weifang, 262200, China

    Shuai-Guo Wang

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  1. Hai-Qiang Zhang
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Correspondence to Hai-Rong Fang.

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Recommended by Associate Editor Veljko Potkonjak

Hai-Qiang Zhang received the B. Eng. degree in mechanical design and theories from Yantai University, China in 2012, the M. Eng. degree in mechanical engineering from Hebei University of Engineering, China in 2015. He is a Ph. D. degree candidate at Beijing Jiaotong University, China.

His research interests include robotics in computer integrated manufacturing, parallel kinematics machine tool, redundant actuation robots, over-constrained parallel manipulators, and multi-objective optimization design.

Hai-Rong Fang received the B. Eng. degree in mechanical engineering from Nanjing University of Science and Technology, China in 1990, the M. Eng. degree in mechanical engineering from Sichuan University, China in 1996, and the Ph. D. degree in mechanical engineering from Beijing Jiaotong University, China in 2005. She worked as associate professor in Department of Engineering Mechanics at Beijing Jiaotong University, China, from 2003 to 2011. She is a professor in School of Mechanical Engineering from 2011 and director of Robotics Research Center.

Her research interests include parallel mechanisms, digital control, robotics and automation, machine tool equipment.

Bing-Shan Jiang received the B. Eng. degree in mechanical electronic engineering from Liaoning Technical University, China in 2015, and the M. Eng. degree in mechanical engineering from Liaoning Technical University, China in 2017. He is currently a Ph. D. degree candidate at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China.

His research interests include synthesis, kinematics, dynamics and control of parallel robots.

Shuai-Guo Wang received the B. Eng. degree in mechanical engineering and automation from Changchun University of Technology, China in 2015. He is currently an engineer who works at MH Robot and Automation Limited Company.

His research interests include principle and method of automatic control, automation unit technology and integration technology and its application in all kinds of control systems, robot system integration, and automobile automatic production line.

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Zhang, HQ., Fang, HR., Jiang, BS. et al. Dynamic Performance Evaluation of a Redundantly Actuated and Over-constrained Parallel Manipulator. Int. J. Autom. Comput. 16, 274–285 (2019). https://doi.org/10.1007/s11633-018-1147-6

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  • DOI: https://doi.org/10.1007/s11633-018-1147-6

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