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Research Papers

New Indices for Optimal Design of Redundantly Actuated Parallel Manipulators

[+] Author and Article Information
Qinchuan Li

Mechatronic Institute,
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: lqchuan@zstu.edu.cn

Ningbin Zhang

Mechatronic Institute,
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: zhangningbin0617@126.com

Feibo Wang

Mechatronic Institute,
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: wfbace@hotmail.com

1Corresponding author.

Manuscript received June 23, 2016; final manuscript received October 29, 2016; published online December 2, 2016. Assoc. Editor: Raffaele Di Gregorio.

J. Mechanisms Robotics 9(1), 011007 (Dec 02, 2016) (10 pages) Paper No: JMR-16-1183; doi: 10.1115/1.4035126 History: Received June 23, 2016; Revised October 29, 2016

Redundantly actuated parallel manipulators (PMs) receive growing interest due to their reduced singularity and enlarged workspace. This paper proposes new indices for optimal design and analysis of redundantly actuated PMs by evaluating their motion/force transmissibility. First, we proposed a method to extract a multi-DOF (degrees-of-freedom) redundantly actuated PM into several subsidiary one-DOF PMs with two or more actuators by locking some actuators in an ergodic manner. Then, a new index of output transmission performance is proposed by investigating the mean value of the instantaneous power produced by the multiple actuation wrenches and one twist of the moving platform of one-DOF PMs. A local transmission index (LTI) is defined as the minimum value of the index of output and input transmission performance. A global transmission index (GTI) is then established based on the LTI. The proposed LTI and GTI are coordinate-free and have clear physical interpretation. Finally, the validity and universality of the new indices are demonstrated by optimization and analysis of redundantly actuated lower-mobility PMs with extra articulated six-DOF or limited-DOF limbs.

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Figures

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Fig. 1

The redundantly actuated four-bar mechanism

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Fig. 2

Procedure of evaluating a general redundantly actuated PM

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Fig. 3

CAD model of a series of 1T2R nonredundant and redundant actuation PMs: (a) 2-UPR-RPU PM, (b) 2UPR-RPU-SPS PM, and (c) 2UPR-2RPU PM

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Fig. 4

Procedure of transmissibility evaluation for the 2UPR-RPU-SPS PM

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Fig. 5

LTI distributions: (a) 2-UPR-RPU PM, (b) 2UPR-RPU-SPS PM before optimization, (c) 2UPR-RPU-SPS PM after optimization, and (d) GTI atlases

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Fig. 6

Parameter design space: (a) three-dimensional view and (b) planar view

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Fig. 7

Optimization procedure for the 2UPR- RPU-SPS PM

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Fig. 8

Schematic diagram of a 3-RPS PM and its variant PMs

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Fig. 9

LTI distributions: (a) three RPS, (b) center-one, (c) middle-one, (d) middle-two, (e) middle-three PMs, and (f) GTI atlases

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Fig. 10

CAD model of the 2URR-2RRU PM

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Fig. 11

Generation of indices: (a) input index, (b) output index, and (c) LTI with r1 = 250 mm, r2 = 400 mm, l = 400 mm, h = 300 mm

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