吉林大学学报(工学版) ›› 2017, Vol. 47 ›› Issue (4): 1138-1143.doi: 10.13229/j.cnki.jdxbgxb201704018

• Orginal Article • Previous Articles     Next Articles

Dynamic characteristics of a heavy duty parallel mechanism with actuation redundancy

XU Jin-kai1, 2, WANG Yu-tian1, ZHANG Shi-zhong3   

  1. 1.College of Mechanical and Electric Engineering, Changchun University of Science and Technology, Changchun 130022,China;
    2.National and Local Joint Engineering Laboratory of Precision Manufacturing and Measurement Techniques, Changchun University of Science and Technology, Changchun 130022,China;
    3.College of Mechanical Science and Engineering, Jilin University, Changchun 130022,China
  • Received:2017-02-19 Online:2017-07-20 Published:2017-07-20

RICH HTML

1   

PDF (PC)

150

Abstract: The types of heavy-duty parallel mechanisms are not sufficient for industrial applications. A two degree of freedom (2DOF) heavy-duty parallel mechanism with actuation redundancy is proposed. The kinematics of the mechanism is analyzed and the dynamic model is derived using the principle of virtual work. The driving force is optimized based on the force optimization method. An evaluation method of the acceleration is given. The acceleration of the redundantly actuated parallel mechanism is compared with its corresponding non-redundant parallel mechanism. It is proved that the proposed parallel mechanism is useful for industry and the acceleration evaluation index is also helpful for the acceleration evaluation of other parallel mechanisms.

Key words: automatic control technology, parallel mechanism, principle of virtual work, dynamics, actuation redundancy, performance evaluation

CLC Number: 

  • TP242
[1] Ecorchard G, Neugebauer R, Maurine P. Elasto-geometrical modeling and calibration of redundantly actuated PKMs[J]. Mechanism and Machine Theory,2010,45(5):795-810.
[2] 吴军, 李铁民, 关立文. 飞行模拟器运动平台的计算力矩控制[J]. 清华大学学报:自然科学版,2006,46(8):1405-1408.
Wu Jun, Li Tie-min, Guan Li-wen. Computed-torque control for a moving flight simulator platform[J]. Journal of Tsinghua University(Science and Technology),2006,46(8):1405-1408.
[3] Hennes N. ECOSPEED—an innovative machinery concept for high performance 5-axis machining of large structural components in aircraft engineering[C]//Proceedings of 3rd Chemnitz Parallel Kinematics Seminar, Zwickau, Germany, 2002: 763-774.
[4] Chung G J, Kim D H, Shin H. Structural analysis of 600 kg·f heavy duty handling robot[C]//IEEE International Conference on Robotics, Automation and Mechatronics,Anchorage, Alaska,USA,2010:40-45.
[5] Bi Z M, Kang B. An inverse dynamic model of over-constrained parallel kinematic machine based on Newton-Euler formulation[J]. Journal of Dynamic Systems, Measurement, and Control,2014,136(4):041001.
[6] Asada H. A geometrical representation of manipulator dynamics and its application to arm design[J].Journal of Dynamic Systems, Measurement, and Control, 1983, 105(3): 131-135.
[7] Yoshikawa T. Dynamic manipulability of robot manipulators[J]. Journal of Robotic Systems,1985,2(1):113-121.
[8] Wu J, Gao Y, Zhang B, Wang L. Workspace and dynamic performance evaluation of the parallel manipulators in a spray-painting equipment[J]. Robotics and Computer Integrated Manufacturing,2017,44:199-207.
[1] JIA Tuo,ZHAO Ding-xuan,CUI Yu-xin. Method of rollover pre-warning for articulated loader [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1762-1769.
[2] ZHU Wei,WANG Chuan-wei,GU Kai-rong,SHEN Hui-ping,XU Ke,WANG Yuan. Stiffness and dynamics analysis of a new type of tensegrity parallel mechanism [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1777-1786.
[3] GU Wan-li,WANG Ping,HU Yun-feng,CAI Shuo,CHEN Hong. Nonlinear controller design of wheeled mobile robot with H∞ performance [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1811-1819.
[4] LI Zhan-dong,TAO Jian-guo,LUO Yang,SUN Hao,DING Liang,DENG Zong-quan. Design of thrust attachment underwater robot system in nuclear power station pool [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1820-1826.
[5] LIU Zhao-hui, WANG Chao, LYU Wen-hong, GUAN Xin. Identification of data characteristics of vehicle running status parameters by nonlinear dynamic analysis [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1405-1410.
[6] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[7] YAN Dong-mei, ZHONG Hui, REN Li-li, WANG Ruo-lin, LI Hong-mei. Stability analysis of linear systems with interval time-varying delay [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1556-1562.
[8] HU Man-jiang, LUO Yu-gong, CHEN Long, LI Ke-qiang. Vehicle mass estimation based on longitudinal frequency response characteristics [J]. 吉林大学学报(工学版), 2018, 48(4): 977-983.
[9] ZHANG Lin, ZHANG Xin-jie, GUO Kong-hui, WANG Chao, LIU Yang, LIU Tao. Rolling window optimization for intelligent vehicle trajectory planning in unknown environment [J]. 吉林大学学报(工学版), 2018, 48(3): 652-660.
[10] SUN Zheng, HUANG Yu-qi, YU Xiao-li. Numerical simulation of flow and heat transfer in journal bearing lubrication [J]. 吉林大学学报(工学版), 2018, 48(3): 744-751.
[11] TIAN Yan-tao, ZHANG Yu, WANG Xiao-yu, CHEN Hua. Estimation of side-slip angle of electric vehicle based on square-root unscented Kalman filter algorithm [J]. 吉林大学学报(工学版), 2018, 48(3): 845-852.
[12] ZHANG Shi-tao, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, TIAN Da-peng. Enhancing performance of FSM based on zero phase error tracking control [J]. 吉林大学学报(工学版), 2018, 48(3): 853-858.
[13] SU Shu-jie, HE Lu. Transient dynamic congestion evacuation model of pedestrian at walk traffic planning crossroads [J]. 吉林大学学报(工学版), 2018, 48(2): 440-447.
[14] WANG Lin, WANG Hong-guang, SONG Yi-feng, PAN Xin-an, ZHANG Hong-zhi. Behavior planning of a suspension insulator cleaning robot for power transmission lines [J]. 吉林大学学报(工学版), 2018, 48(2): 518-525.
[15] HU Yun-feng, WANG Chang-yong, YU Shu-you, SUN Peng-yuan, CHEN Hong. Structure parameters optimization of common rail system for gasoline direct injection engine [J]. 吉林大学学报(工学版), 2018, 48(1): 236-244.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd