Research Papers

A Measure for Evaluation of Maximum Acceleration of Redundant and Nonredundant Parallel Manipulators

[+] Author and Article Information
Jun Wu

State Key Laboratory of Tribology
and Institute of Manufacturing Engineering,
Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: jhwu@mail.tsinghua.edu.cn

Binbin Zhang

School of Mechatronics Engineering,
University of Electronic Science
and Technology of China,
Chengdu 611731, China
e-mail: binbinzhang@std.uestc.edu.cn

Liping Wang

State Key Laboratory of Tribology
and Institute of Manufacturing Engineering,
Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: lpwang@mail.tsinghua.edu.cn

1Corresponding author.

Manuscript received September 3, 2014; final manuscript received August 21, 2015; published online November 24, 2015. Assoc. Editor: Leila Notash.

J. Mechanisms Robotics 8(2), 021001 (Nov 24, 2015) (8 pages) Paper No: JMR-14-1237; doi: 10.1115/1.4031500 History: Received September 03, 2014; Revised August 21, 2015; Accepted August 25, 2015

The paper deals with the evaluation of acceleration of redundant and nonredundant parallel manipulators. The dynamic model of three degrees-of-freedom (3DOF) parallel manipulator is derived by using the virtual work principle. Based on the dynamic model, a measure is proposed for the acceleration evaluation of the redundant parallel manipulator and its nonredundant counterpart. The measure is designed on the basis of the maximum acceleration of the mobile platform when one actuated joint force is unit and other actuated joint forces are less than or equal to a unit force. The measure for evaluation of acceleration can be used to evaluate the acceleration of both redundant parallel manipulators and nonredundant parallel manipulators. Furthermore, the acceleration of the 4-PSS-PU parallel manipulator and its nonredundant counterpart are compared.

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Grahic Jump Location
Fig. 3

Kinematic model of 3-PSS-PU manipulator

Grahic Jump Location
Fig. 2

Kinematic model of 4-PSS-PU manipulator

Grahic Jump Location
Fig. 1

Three-dimensional model of 4-PSS-PU manipulator

Grahic Jump Location
Fig. 4

Mapping actuator torques to an acceleration polytope

Grahic Jump Location
Fig. 5

Maximum angular acceleration versus α and β

Grahic Jump Location
Fig. 6

Maximum angular acceleration contour of 4-PSS-PU manipulator

Grahic Jump Location
Fig. 7

Maximum angular acceleration contour of 3-PSS-PU manipulator

Grahic Jump Location
Fig. 8

Maximum linear acceleration



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