Performance Analysis and Application of a Redundantly Actuated Parallel Manipulator for Milling |
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Authors: | Jun Wu Jinsong Wang Tiemin Li Liping Wang |
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Affiliation: | (1) Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing, 100084, China |
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Abstract: | This paper deals with the performance analysis of a 3-degree-of-freedom (3-DOF) planar parallel manipulator with actuation
redundancy. Closed-form solutions are developed for both the inverse and direct kinematics about the redundant parallel manipulator.
In performance analysis phase, the dexterity is analyzed, three kinds of singularities are investigated, and the stiffness
is estimated. Compared with the corresponding non-redundant parallel manipulator with the redundant link removed, the redundantly
actuated one has better dexterity, litter singular configurations and higher stiffness. The redundantly actuated parallel
manipulator was applied to the design of a 4-DOF hybrid machine tool which also includes a feed worktable to demonstrate its
applicability. |
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Keywords: | Parallel manipulator Actuation redundancy Hybrid machine tool |
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