Parallel manipulators (PMs) with redundant actuation are attracting increasing research interest because they have demonstrated improved stiffness and fewer singularities. This paper proposes a new redundantly actuated parallel manipulator that has three degrees-of-freedom (DOFs) and four limbs. The proposed manipulator is a 2UPR-2PRU parallel manipulator (where P represents an actuated prismatic joint, R represents a revolute joint, and U represents a universal joint) that is actuated using four prismatic joints; two of these joints are mounted on the base to reduce the movable mass. Mobility analysis shows that the moving platform has two rotational DOFs and one translational DOF. First, the inverse displacement solution, velocity, and singularity analyses are discussed. Next, the local transmission index (LTI) and the good transmission workspace are used to evaluate the motion/force transmissibility of the 2UPR-2PRU parallel manipulator. Finally, the parameter-finiteness normalization method (PFNM) is used to produce an optimal design that considers the good transmission workspace. It is thus shown that the motion/force transmission of the proposed manipulator is improved by optimizing the link parameters.
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August 2017
Research-Article
Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy
Lingmin Xu,
Lingmin Xu
Mechatronic Institute,
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: xulingmin1993@163.com
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: xulingmin1993@163.com
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Qinchuan Li,
Qinchuan Li
Mechatronic Institute,
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: lqchuan@zstu.edu.cn
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: lqchuan@zstu.edu.cn
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Ningbin Zhang,
Ningbin Zhang
Mechatronic Institute,
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: zhangningbin0617@126.com
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: zhangningbin0617@126.com
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Qiaohong Chen
Qiaohong Chen
School of Information,
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: chen_lisa@zstu.edu.cn
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: chen_lisa@zstu.edu.cn
Search for other works by this author on:
Lingmin Xu
Mechatronic Institute,
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: xulingmin1993@163.com
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: xulingmin1993@163.com
Qinchuan Li
Mechatronic Institute,
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: lqchuan@zstu.edu.cn
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
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: zhangningbin0617@126.com
Qiaohong Chen
School of Information,
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: chen_lisa@zstu.edu.cn
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: chen_lisa@zstu.edu.cn
1Corresponding author.
Manuscript received September 28, 2016; final manuscript received April 7, 2017; published online May 2, 2017. Assoc. Editor: Marc Gouttefarde.
J. Mechanisms Robotics. Aug 2017, 9(4): 041008 (12 pages)
Published Online: May 2, 2017
Article history
Received:
September 28, 2016
Revised:
April 7, 2017
Citation
Xu, L., Li, Q., Zhang, N., and Chen, Q. (May 2, 2017). "Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy." ASME. J. Mechanisms Robotics. August 2017; 9(4): 041008. https://doi.org/10.1115/1.4036517
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