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Kinematic and dynamic analysis of a 4-DOF over-constraint parallel driving mechanism with planar sub-closed chains

Published online by Cambridge University Press:  19 July 2023

Yangyang Huang ,
Jinzhu Zhang Open the ORCID record for Jinzhu Zhang [Opens in a new window] ,
Xiaoyan Xiong  and
Shengxiang Liu
Yangyang Huang
Affiliation:
College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan, China
Jinzhu Zhang*
Affiliation:
College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan, China Engineering Research Center of Advanced Metal Composites Forming Technology and Equipment, Ministry of Education, Taiyuan, China
Xiaoyan Xiong
Affiliation:
College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan, China Engineering Research Center of Advanced Metal Composites Forming Technology and Equipment, Ministry of Education, Taiyuan, China
Shengxiang Liu
Affiliation:
College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan, China
*
Corresponding author: Jinzhu Zhang; E-mail: zhangjinzhu@tyut.edu.cn
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Abstract

In this paper, a new over-constrained parallel driving mechanism (PDM) with planar sub-closed chains is proposed. First, the number of over-constraints on the PDM is calculated. Then, an analysis is conducted as to the kinematics of the hybrid manipulator, including positions, velocities, and accelerations of all bodies. Furthermore, the Newton–Euler approach is taken to deduce the kinematic formula of each link and the formula of inertial force at the center of mass. However, it remains difficult to solve the equation since the number of equations is smaller than that of unknown variables. To solve this problem, the screw theory is applied in the present study to analyze the cause of over-constraints, with the link’s elastic deformation introduced as the supplement of deformation compatibility equations. Moreover, the actuation forces and constrained forces/moments are calculated simultaneously. Finally, the dynamic model is verified through simulation and experimentation. The proposed modeling approach provides a fundamental basis for the structural optimization and friction force computation of the over-constrained PDM.

Keywords

low-mobility parallel driving mechanismover-constrainedsub-closed chainskinematicsforce analysis
Type
Research Article
Information
Robotica , Volume 41 , Issue 10 , October 2023 , pp. 3137 - 3159
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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