Analysis of a 6-DOF redundantly actuated 4-legged parallel mechanism

作者：Abedinnasab Mohammad H^*; Vossoughi G R

来源：Nonlinear Dynamics, 2009, 58(4): 611-622.

DOI：10.1007/s11071-009-9504-1

• Parallel mechanisms
• Redundancy
• Jacobian matrix
• Kinematics
• Dynamics

In this paper, we propose a new 4-legged 6-DOF redundantly actuated UPS parallel mechanism. Kinematics, singularity and dynamics analyses of the proposed mechanism are addressed. Inverse kinematics has a closed-form solution, whereas the forward kinematics has a semi-closed form solution. Also, the Jacobian matrix has been determined using the concept of reciprocal screws. Using the principle of virtual work and minimum norm method, a general formulation for the inverse dynamics of redundantly actuated parallel manipulator is presented.
Moreover, the proposed redundant mechanism has been compared with a similar but nonredundant mechanism in three aspects: reachable points, and actuation forces under static and dynamic conditions. We show that the redundancy decreases singular points, and dramatically reduces the actuators' forces and torques.

• 出版日期2009-12